Diff: AttitudeController/AttitudeController.h

Revision:

17:f682b4a5686d

Parent:

5:b9947e3d20cf

Child:

19:83b357d6806e

--- a/AttitudeController/AttitudeController.h	Fri Oct 05 13:19:03 2018 +0000
+++ b/AttitudeController/AttitudeController.h	Fri Oct 05 19:32:35 2018 +0000
@@ -9,12 +9,12 @@
   public:
     // Class constructor
     AttitudeController();
-    // Control torques given reference angles and current angles and angular velocities 
+    // Control torques (N.m) given reference angles (rad) and current angles (rad) and angular velocities (rad/s)
     void control(float phi_r, float theta_r, float psi_r, float phi, float theta, float psi, float p, float q, float r);
     // Torques (N.m)
     float tau_phi, tau_theta, tau_psi;
   private:
-    // Control torques given reference angles and current angles and angular velocities (with given time constants and moments of inertia)
+    // Control torque (N.m) given reference angle (rad) and current angle (rad) and angular velocity (rad/s) with given time constants (s) and moment of inertia (kg.m^2)
     float control_single(float angle_r, float angle, float rate, float T_angle, float T_rate, float I);
 };