control: renamed pre-process submodule to prepocessor submodule

birdfly8888 · Oct 23, 2019 · 3d34a91 · 3d34a91
1 parent 582594b
commit 3d34a91
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Showing 5 changed files with 9 additions and 9 deletions.
diff --git a/docs/specs/calibration_table/control_calibration.md b/docs/specs/calibration_table/control_calibration.md
@@ -58,7 +58,7 @@ For each bar, there is a blue ribbon indicating collected data frames. When the
 
 For calibration table data collection, when the first 13 bars (total progress bar and 12 brake/throttle condition bars) reaches 100% the data collection process is considered as completed. For dynamic model data collection, the data collection process is completed when all bars reaches 100%.
 
-All data are saved in `nvme dirve` or `data/record/`
+All data are saved in `nvme drive` or `data/record/`
 
 ### Vehicle Configuration
 

diff --git a/modules/control/common/control_gflags.cc b/modules/control/common/control_gflags.cc
@@ -36,8 +36,8 @@ DEFINE_string(control_node_name, "control", "The control node name in proto");
 DEFINE_string(mpc_controller_submodule_name, "MPC controller",
               "MPC controller node name in proto");
 
-DEFINE_string(pre_process_submodule_name, "pre process submodule",
-              "pre-process node name in proto");
+DEFINE_string(preprocessor_submodule_name, "preprocessor submodule",
+              "preprocessor submodule name in proto");
 
 DEFINE_bool(is_control_test_mode, false, "True to run control in test mode");
 DEFINE_bool(use_preview_speed_for_table, false,
@@ -92,7 +92,7 @@ DEFINE_bool(enable_feedback_augment_on_high_speed, false,
             "Enable augmented control on lateral error on high speed");
 
 DEFINE_bool(
-    enable_gear_dirve_negative_speed_protection, false,
+    enable_gear_drive_negative_speed_protection, false,
     "Enable estop to prevent following negative speed during gear drive");
 
 DEFINE_bool(use_osqp_solver, false, "use OSQP solver for MPC controller");
diff --git a/modules/control/common/control_gflags.h b/modules/control/common/control_gflags.h
@@ -34,7 +34,7 @@ DECLARE_bool(enable_speed_station_preview);
 
 DECLARE_string(control_node_name);
 
-DECLARE_string(pre_process_submodule_name);
+DECLARE_string(preprocessor_submodule_name);
 DECLARE_string(mpc_controller_submodule_name);
 
 DECLARE_bool(is_control_test_mode);
@@ -67,6 +67,6 @@ DECLARE_bool(query_forward_time_point_only);
 
 DECLARE_bool(enable_feedback_augment_on_high_speed);
 
-DECLARE_bool(enable_gear_dirve_negative_speed_protection);
+DECLARE_bool(enable_gear_drive_negative_speed_protection);
 
 DECLARE_bool(use_osqp_solver);
diff --git a/modules/control/control_component.cc b/modules/control/control_component.cc
@@ -210,7 +210,7 @@ Status ControlComponent::ProduceControlCommand(
                     local_view_.trajectory.header().ShortDebugString();
   }
 
-  if (FLAGS_enable_gear_dirve_negative_speed_protection) {
+  if (FLAGS_enable_gear_drive_negative_speed_protection) {
     const double kEpsilon = 0.001;
     auto first_trajectory_point = local_view_.trajectory.trajectory_point(0);
     if (local_view_.chassis.gear_location() == Chassis::GEAR_DRIVE &&

diff --git a/modules/control/submodules/mpc_controller_submodule.cc b/modules/control/submodules/mpc_controller_submodule.cc
@@ -131,7 +131,7 @@ bool MPCControllerSubmodule::Proc() {
 
 Status MPCControllerSubmodule::ProduceControlCommand(
     ControlCommand *control_command) {
-  // TODO(SHU): move to pre_processing submodule
+  // TODO(SHU): move to preprocessor submodule
 
   {
     std::lock_guard<std::mutex> lock(mutex_);
@@ -189,7 +189,7 @@ Status MPCControllerSubmodule::ProduceControlCommand(
                     local_view_.trajectory.header().ShortDebugString();
   }
 
-  if (FLAGS_enable_gear_dirve_negative_speed_protection) {
+  if (FLAGS_enable_gear_drive_negative_speed_protection) {
     const double kEpsilon = 0.001;
     auto first_trajectory_point = local_view_.trajectory.trajectory_point(0);
     if (local_view_.chassis.gear_location() == Chassis::GEAR_DRIVE &&