add some more comments to control_state
@@ -24,7 +24,7 @@ typedef struct {
uint8_t rx_mode : 1; // bind / normal rx mode
uint8_t rx_ready : 1;
- uint8_t controls_override : 1;
+ uint8_t controls_override : 1; // will activate rx_override below
uint8_t acro_override : 1;
uint8_t usb_active : 1;
@@ -44,18 +44,18 @@ typedef struct {
vec4_t rx; // holds the main four channels, roll, pitch, yaw, throttle
vec4_t rx_filtered; // same as above, but filtered by the rx smoothing
- vec4_t rx_override;
+ vec4_t rx_override; // override values, activated by controls_override
float throttle; // input throttle with idle etc applied
float thrsum; // average of all 4 motor thrusts
uint8_t aux[AUX_CHANNEL_MAX]; // digital on / off channels
- vec3_t accel_raw;
- vec3_t accel;
+ vec3_t accel_raw; // raw accel reading with rotation and scaling applied
+ vec3_t accel; // filtered accel readings
- vec3_t gyro_raw;
- vec3_t gyro;
+ vec3_t gyro_raw; // raw gyro reading with rotation and scaling applied
+ vec3_t gyro; // filtered gyro reading
vec3_t GEstG; // gravity vector
vec3_t attitude;
