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refactor(MulticopterAttitudeControl): clarify comment for unavilable unaided_yaw

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Matthias Grob
2026-05-21 15:39:10 +02:00
parent e1befdea29
commit 4ed7a48814
1 changed files with 1 additions and 3 deletions
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4
src/lib/stick_yaw/StickYaw.cpp
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@@ -73,9 +73,7 @@ void StickYaw::generateYawSetpoint(float &yawspeed_setpoint, float &yaw_setpoint
bool StickYaw::updateYawCorrection(const float yaw, const float unaided_yaw, const float deltatime)
{
if (!PX4_ISFINITE(unaided_yaw)) {
// If unaided yaw is not available we leave yaw_correction_ unchanged
// Meaning yaw_setpoint - yaw_correction_prev + _yaw_correction = yaw_setpoint
return false;
return false; // _yaw_correction stays unchanged until unaided yaw is available (again)
}
// Detect the convergence phase of the yaw estimate by monitoring its relative