better comments

Signed-off-by: RomanBapst <[email protected]>

src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp

@@ -77,7 +77,9 @@ void FlightTaskTransition::updateAccelerationEstimate()
 
 bool FlightTaskTransition::update()
 {
-	// level wings during the transition, altitude should be controlled
+	// demand zero vertical velocity and level attitude
+	// tailsitters will override attitude and thrust setpoint
+	// tiltrotors and standard vtol will overrride roll and pitch setpoint but keep vertical thrust setpoint
 	_thrust_setpoint.xy() = matrix::Vector2f(0.f, 0.f);
 	_thrust_setpoint(2) = NAN;
 	_position_setpoint *= NAN;

src/modules/vtol_att_control/standard.cpp

@@ -281,6 +281,8 @@ void Standard::update_transition_state()
 	} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_MC) {
 
 		_v_att_sp->roll_body = _fw_virtual_att_sp->roll_body;
+
+		// control backtransition deceleration using pitch.
 		_v_att_sp->pitch_body = update_and_get_backtransition_pitch_sp();
 
 		const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));