From 4a39424d6b5900e851344bcc03b2260b874b0cb8 Mon Sep 17 00:00:00 2001
From: Shiv <shivtyagi3015@gmail.com>
Date: Tue, 29 Jun 2021 17:14:10 +0530
Subject: [PATCH] Copter: added comments to include libraries in copter.h and
 attitude.cpp

fixed typo in a comment and added more comments for included libraries in copter.h and fixed a comment in attitude.cpp
---
 ArduCopter/Attitude.cpp |  2 +-
 ArduCopter/Copter.h     | 68 ++++++++++++++++++++---------------------
 2 files changed, 35 insertions(+), 35 deletions(-)

diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
index 57cd97597f..ddace6d25f 100644
--- a/ArduCopter/Attitude.cpp
+++ b/ArduCopter/Attitude.cpp
@@ -8,7 +8,7 @@
 //  called at 100hz
 void Copter::update_throttle_hover()
 {
-    // if not armed or landed exit
+    // if not armed or landed or on standby then exit
     if (!motors->armed() || ap.land_complete || standby_active) {
         return;
     }
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 6bf040c13f..0ed08e0663 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -28,46 +28,46 @@
 #include <AP_HAL/AP_HAL.h>
 
 // Common dependencies
-#include <AP_Common/AP_Common.h>
-#include <AP_Common/Location.h>
-#include <AP_Param/AP_Param.h>
-#include <StorageManager/StorageManager.h>
+#include <AP_Common/AP_Common.h>            // Common definitions and utility routines for the ArduPilot libraries
+#include <AP_Common/Location.h>             // Library having the implementation of location class         
+#include <AP_Param/AP_Param.h>              // A system for managing and storing variables that are of general interest to the system.
+#include <StorageManager/StorageManager.h>  // library for Management for hal.storage to allow for backwards compatible mapping of storage offsets to available storage
 
 // Application dependencies
-#include <GCS_MAVLink/GCS.h>
-#include <AP_Logger/AP_Logger.h>          // ArduPilot Mega Flash Memory Library
-#include <AP_Math/AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
-#include <AP_AccelCal/AP_AccelCal.h>                // interface and maths for accelerometer calibration
-#include <AP_InertialSensor/AP_InertialSensor.h>  // ArduPilot Mega Inertial Sensor (accel & gyro) Library
-#include <AP_AHRS/AP_AHRS.h>
-#include <AP_Mission/AP_Mission.h>     // Mission command library
-#include <AC_AttitudeControl/AC_AttitudeControl_Multi.h> // Attitude control library
-#include <AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h> // 6DoF Attitude control library
-#include <AC_AttitudeControl/AC_AttitudeControl_Heli.h> // Attitude control library for traditional helicopter
-#include <AC_AttitudeControl/AC_PosControl.h>      // Position control library
-#include <AP_Motors/AP_Motors.h>          // AP Motors library
-#include <AP_Stats/AP_Stats.h>     // statistics library
-#include <Filter/Filter.h>             // Filter library
+#include <GCS_MAVLink/GCS.h>                // Library for Interface definition for the various Ground Control System
+#include <AP_Logger/AP_Logger.h>            // ArduPilot Mega Flash Memory Library
+#include <AP_Math/AP_Math.h>                // ArduPilot Mega Vector/Matrix math Library
+#include <AP_AccelCal/AP_AccelCal.h>        // interface and maths for accelerometer calibration
+#include <AP_InertialSensor/AP_InertialSensor.h>                // ArduPilot Mega Inertial Sensor (accel & gyro) Library
+#include <AP_AHRS/AP_AHRS.h>                                    // AHRS (Attitude Heading Reference System) interface library for ArduPilot
+#include <AP_Mission/AP_Mission.h>                              // Mission command library
+#include <AC_AttitudeControl/AC_AttitudeControl_Multi.h>        // Attitude control library
+#include <AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h>   // 6DoF Attitude control library
+#include <AC_AttitudeControl/AC_AttitudeControl_Heli.h>         // Attitude control library for traditional helicopter
+#include <AC_AttitudeControl/AC_PosControl.h>                   // Position control library
+#include <AP_Motors/AP_Motors.h>            // AP Motors library
+#include <AP_Stats/AP_Stats.h>              // statistics library
+#include <Filter/Filter.h>                  // Filter library
 #include <AP_Airspeed/AP_Airspeed.h>        // needed for AHRS build
-#include <AP_Vehicle/AP_Vehicle.h>         // needed for AHRS build
-#include <AP_InertialNav/AP_InertialNav.h>     // ArduPilot Mega inertial navigation library
-#include <AC_WPNav/AC_WPNav.h>           // ArduCopter waypoint navigation library
-#include <AC_WPNav/AC_Loiter.h>
-#include <AC_WPNav/AC_Circle.h>          // circle navigation library
-#include <AP_Declination/AP_Declination.h>     // ArduPilot Mega Declination Helper Library
+#include <AP_Vehicle/AP_Vehicle.h>          // needed for AHRS build
+#include <AP_InertialNav/AP_InertialNav.h>  // ArduPilot Mega inertial navigation library
+#include <AC_WPNav/AC_WPNav.h>              // ArduCopter waypoint navigation library
+#include <AC_WPNav/AC_Loiter.h>             // ArduCopter Loiter Mode Library
+#include <AC_WPNav/AC_Circle.h>             // circle navigation library
+#include <AP_Declination/AP_Declination.h>  // ArduPilot Mega Declination Helper Library
 #include <AP_RCMapper/AP_RCMapper.h>        // RC input mapping library
-#include <AP_BattMonitor/AP_BattMonitor.h>     // Battery monitor library
-#include <AP_LandingGear/AP_LandingGear.h>     // Landing Gear library
+#include <AP_BattMonitor/AP_BattMonitor.h>  // Battery monitor library
+#include <AP_LandingGear/AP_LandingGear.h>  // Landing Gear library
 #include <AC_InputManager/AC_InputManager.h>        // Pilot input handling library
 #include <AC_InputManager/AC_InputManager_Heli.h>   // Heli specific pilot input handling library
-#include <AP_Arming/AP_Arming.h>
-#include <AP_SmartRTL/AP_SmartRTL.h>
-#include <AP_TempCalibration/AP_TempCalibration.h>
-#include <AC_AutoTune/AC_AutoTune.h>
-#include <AP_Parachute/AP_Parachute.h>
-#include <AC_Sprayer/AC_Sprayer.h>
-#include <AP_ADSB/AP_ADSB.h>
-#include <AP_Proximity/AP_Proximity.h>
+#include <AP_Arming/AP_Arming.h>            // ArduPilot motor arming library
+#include <AP_SmartRTL/AP_SmartRTL.h>        // ArduPilot Smart Return To Launch Mode (SRTL) library
+#include <AP_TempCalibration/AP_TempCalibration.h>  // temperature calibration library
+#include <AC_AutoTune/AC_AutoTune.h>        // ArduCopter autotune library. support for autotune of multirotors.
+#include <AP_Parachute/AP_Parachute.h>      // ArduPilot parachute release library
+#include <AC_Sprayer/AC_Sprayer.h>          // Crop sprayer library
+#include <AP_ADSB/AP_ADSB.h>                // ADS-B RF based collision avoidance module library
+#include <AP_Proximity/AP_Proximity.h>      // ArduPilot proximity sensor library
 
 // Configuration
 #include "defines.h"