add fw autoland documentation

maxond · Dec 29, 2013 · 52960e0 · 52960e0
1 parent 95bdc1a
commit 52960e0
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/Documentation/fw_landing.png b/Documentation/fw_landing.png
diff --git a/src/modules/fw_pos_control_l1/landingslope.h b/src/modules/fw_pos_control_l1/landingslope.h
@@ -46,16 +46,16 @@
 class Landingslope
 {
 private:
- //xxx: documentation of landing pending
- float _landing_slope_angle_rad;
- float _flare_relative_alt;
+ /* see Documentation/fw_landing.png for a plot of the landing slope */
+ float _landing_slope_angle_rad; /**< phi in the plot */
+ float _flare_relative_alt; /**< h_flare,rel in the plot */
  float _motor_lim_horizontal_distance;
- float _H1_virt;
- float _H0;
- float _d1;
+ float _H1_virt; /**< H1 in the plot */
+ float _H0; /**< h_flare,rel + H1 in the plot */
+ float _d1; /**< d1 in the plot */
  float _flare_constant;
- float _flare_length;
- float _horizontal_slope_displacement;
+ float _flare_length; /**< d1 + delta d in the plot */
+ float _horizontal_slope_displacement; /**< delta d in the plot */
 
  void calculateSlopeValues();