fly_monitor update: bit of code adjustment with updated comment

Com_server/fly_monitor/src/Com_SerialWritingThread.cpp

@@ -156,43 +156,40 @@ int Serial_Port_WritingThread::main_loop(struct timeval *front_msg, struct timev
    // Position control mode
    if (drone1.flight_mode == FlightMode::Posctl)
    {
+      // See "drone_joyRemote" or "drone" promethe script to check if the order below is correct when you launch them
       /*
-      motors: 0 -> vertical (forward to backward) [-1.0 to 1.0]
-              1 -> horizontal (left to right) [-1.0 to 1.0]
-              2 -> rotation (ccw to cw) [-1.0 to 1.0]
-              ~~3 -> gas direct (no control) [1.0 to -1.0]~~ (can be used but not advised here)
-              4 -> altitude command (controlled throttle) [0.0 to 1.0]
+      blc_control_motors:
+          0 -> vertical (forward to backward) [-1.0 to 1.0]
+          1 -> horizontal (left to right) [-1.0 to 1.0]
+          2 -> rotation (ccw to cw) [-1.0 to 1.0]
+          ~~3 -> gas direct (no control) [1.0 to -1.0]~~ (can be used but not advised here)
+          4 -> altitude command (controlled throttle) [0.0 to 1.0]
       x = pitch -> forward(1000), backward(-1000)
       y = roll -> right(1000), left(-1000)
       z = thrust -> max gas (1000), no gas (-1000) (0 means enough gas so that there is no thrust but also means you want to land)
       r = yaw -> CCW(1000), CW(-1000)
       */
+      float xx = -blc_control_motors.floats[0];
+      float yy = blc_control_motors.floats[1];
+      float zz = blc_control_motors.floats[4]; // command from altitude control
+      float zz_direct = -0.5f * blc_control_motors.floats[3] + 0.5f; // control gas with throttle axis
+      float rr = - 2 * blc_control_motors.floats[2];
       if(drone1.motors == ARM)
       {
          // Control in altitude
          ///*
-         drone1.command_directControl(-blc_control_motors.floats[0]
-                              ,blc_control_motors.floats[1]
-                              ,blc_control_motors.floats[4]
-                              ,- 2 * blc_control_motors.floats[2]);
+         drone1.command_directControl(xx,yy,zz,rr);
          //*/
          
          // Control directly
          /*
-         drone1.command_directControl(-blc_control_motors.floats[0]
-                              ,blc_control_motors.floats[1]
-                              ,-0.5f * blc_control_motors.floats[3] + 0.5f
-                              ,-blc_control_motors.floats[2]);
+         drone1.command_directControl(xx,yy,zz_direct,rr);
          //*/
       }
       else
       {
-         std::cout << "x = " << - blc_control_motors.floats[0]
-                 << ", y = " << blc_control_motors.floats[1]
-                 << ", z = " << blc_control_motors.floats[4]
-                 << ", r = " << - 2 * blc_control_motors.floats[2]
-                 << std::endl;
-         std::cout << "Drone is not armed, can't control" << std::endl;
+         std::cout << "x = " << xx << ", y = " << yy << ", z = " << zz << ", r = " << rr << std::endl;
+         std::cout << "Drone is not armed, can't control. You can type 'reset' to stop this print." << std::endl;
       }
    }