Airmode - Minor rewording

src/lib/mixer/mixer.h

@@ -221,7 +221,7 @@ class __EXPORT Mixer
 	/**
 	 * @brief Set airmode. Airmode allows the mixer to increase the total thrust in order to unsaturate the motors.
 	 *
-	 * @param[in]  airmode   Dis/-activate airmode by setting it to false/true
+	 * @param[in]  airmode   De/-activate airmode by setting it to false/true
 	 */
 	virtual void set_airmode(bool airmode) {};
 

src/lib/mixer/mixer_multirotor.cpp

@@ -220,13 +220,13 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 		}
 
 	} else {
-		roll_pitch_scale = 1 / (delta_out_max);
+		roll_pitch_scale = 1.0f / (delta_out_max);
 		boost = 1.0f - ((max_out - thrust) * roll_pitch_scale + thrust);
 	}
 
 	if (!_airmode) {
 		// disable positive boosting if not in air-mode
-		// boosting is positive when min_out < 0.0
+		// boosting can only be positive when min_out < 0.0
 		// roll_pitch_scale is reduced accordingly
 		if (boost > 0.0f) {
 			roll_pitch_scale = thrust / (thrust - min_out);

src/modules/mc_att_control/mc_att_control_params.c

@@ -547,7 +547,7 @@ PARAM_DEFINE_FLOAT(MC_DTERM_CUTOFF, 0.f);
 /**
  * Multicopter air-mode
  *
- * The air-mode enables the mixer to increase or decrease the total thrust of the multirotor
+ * The air-mode enables the mixer to increase the total thrust of the multirotor
  * in order to keep attitude and rate control even at low and high throttle.
  * This function should be disabled during tuning as it will help the controller
  * to diverge if the closed-loop is unstable.