From 1c7941fc89c9f836d1fab8c210c28fdaf1c1e4c4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Tue, 6 Jun 2017 09:52:33 +0200 Subject: [PATCH] land_detector: fix too long lines in module documentation --- .../land_detector/land_detector_main.cpp | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/src/modules/land_detector/land_detector_main.cpp b/src/modules/land_detector/land_detector_main.cpp index 2e0810eed2..344aa99647 100644 --- a/src/modules/land_detector/land_detector_main.cpp +++ b/src/modules/land_detector/land_detector_main.cpp @@ -151,18 +151,20 @@ Each vehicle type (multirotor, fixedwing, vtol, ...) provides its own algorithm, states, such as commanded thrust, arming state and vehicle motion. ### Implementation -Every type is implemented in its own class with a common base class. The base class maintains a state (landed, maybe_landed, ground_contact). -Each possible state is implemented in the derived classes. A hysteresis and a fixed priority of each internal state determines the actual land_detector -state. +Every type is implemented in its own class with a common base class. The base class maintains a state (landed, +maybe_landed, ground_contact). Each possible state is implemented in the derived classes. A hysteresis and a fixed +priority of each internal state determines the actual land_detector state. #### Multicopter Land Detector -ground_contact: thrust setpoint and velocity in z-direction must be below a defined threshold for time GROUND_CONTACT_TRIGGER_TIME_US. -When ground_contact is detected, the position controller turns off the thrust setpoint in body x and y. +**ground_contact**: thrust setpoint and velocity in z-direction must be below a defined threshold for time +GROUND_CONTACT_TRIGGER_TIME_US. When ground_contact is detected, the position controller turns off the thrust setpoint +in body x and y. -maybe_landed: it requires ground_contact together with a tighter thrust setpoint threshold and no velocity in the horizontal direction. The trigger -time is defined by MAYBE_LAND_TRIGGER_TIME. When maybe_landed is detected, the position controller sets the thrust setpoint to zero. +**maybe_landed**: it requires ground_contact together with a tighter thrust setpoint threshold and no velocity in the +horizontal direction. The trigger time is defined by MAYBE_LAND_TRIGGER_TIME. When maybe_landed is detected, the +position controller sets the thrust setpoint to zero. -landed: it requires maybe_landed to be true for time LAND_DETECTOR_TRIGGER_TIME_US. +**landed**: it requires maybe_landed to be true for time LAND_DETECTOR_TRIGGER_TIME_US. The module runs periodically on the HP work queue. )DESCR_STR");