Diff: HorizontalController/HorizontalController.cpp

Revision:

17:f682b4a5686d

Parent:

16:54d2f299e404

Child:

21:169cc2b1d2ff

--- a/HorizontalController/HorizontalController.cpp	Fri Oct 05 13:19:03 2018 +0000
+++ b/HorizontalController/HorizontalController.cpp	Fri Oct 05 19:32:35 2018 +0000
@@ -8,21 +8,21 @@
     theta_r = 0.0f;
 }
 
-// 
+// Control reference roll and pitch angles (rad) given reference horizontal velocities (m/s) and current horizontal velocities (m/s)
 void HorizontalController::control(float u_r, float v_r, float u, float v)
 {
     phi_r = -control_single(v_r,v,T_v)/g;
     theta_r = control_single(u_r,u,T_u)/g;
 }
 
-// 
+// Control roll and pitch references (rad) given reference horizontal velocities (m/s) and current horizontal velocities (m/s) on take-off
 void HorizontalController::control_take_off(float u_r, float v_r, float u, float v)
 {
     phi_r = -control_single(v_r,v,T_v_take_off)/g;
     theta_r = control_single(u_r,u,T_u_take_off)/g;
 }
 
-// 
+// Control reference angle (rad) given reference horizontal velocity (m/s) and current horizontal velocity (m/s) with given time constant (s)
 float HorizontalController::control_single(float velocity_r, float velocity, float T_velocity)
 {
     return (1.0f/T_velocity)*(velocity_r-velocity);