From 50fc009dd0143054ec657bebaa13152214141d65 Mon Sep 17 00:00:00 2001
From: C-Glick <colton.glick@gmail.com>
Date: Fri, 25 Feb 2022 12:06:56 -0600
Subject: [PATCH] Added small comments to structs
---
.../src/modules/interface/stabilizer_types.h | 14 ++++++++++----
1 file changed, 10 insertions(+), 4 deletions(-)
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/stabilizer_types.h b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/stabilizer_types.h
index 1b225110c..2f065cd23 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/stabilizer_types.h
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/stabilizer_types.h
@@ -160,11 +160,14 @@ typedef struct sensorData_s {
} sensorData_t;
typedef struct state_s {
- attitude_t attitude; // deg (legacy CF2 body coordinate system, where pitch is inverted)
+ attitude_t attitude; // deg (legacy CF2 body
+ // coordinate system,
+ // where pitch is inverted)
quaternion_t attitudeQuaternion;
point_t position; // m
velocity_t velocity; // m/s
- acc_t acc; // Gs (but acc.z without considering gravity)
+ acc_t acc; // Gs (but acc.z without
+ // considering gravity)
} state_t;
typedef struct control_s {
@@ -186,11 +189,14 @@ typedef struct setpoint_s {
attitude_t attitude; // deg
attitude_t attitudeRate; // deg/s
quaternion_t attitudeQuaternion;
- float thrust;
+ float thrust; // 0 - 60,000
point_t position; // m
velocity_t velocity; // m/s
acc_t acceleration; // m/s^2
- bool velocity_body; // true if velocity is given in body frame; false if velocity is given in world frame
+ bool velocity_body; // true if velocity
+ //is given in body frame;
+ // false if velocity is
+ // given in world frame
struct {
stab_mode_t x;
--
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