Documentation improvements, no functional changes (only comments)

libraries/AP_Camera/AP_Camera.cpp

@@ -12,13 +12,19 @@ extern AP_Relay relay;
 #define CAM_DEBUG DISABLED
 
 const AP_Param::GroupInfo AP_Camera::var_info[] PROGMEM = {
+	// @Param: TRIGG_TYPE
+	// @DisplayName: Camera shutter (trigger) type
+	// @Description: how to trigger the camera to take a picture
+	// @Values: 0:Servo,1:relay,2:throttle_off_time,3:throttle_off_waypoint,4:transistor
+	// @User: Standard
 	AP_GROUPINFO("TRIGG_TYPE",  0, AP_Camera, trigger_type),
 	AP_GROUPEND
 };
 
 
+/// Servo operated camera
 void
-AP_Camera::servo_pic()		// Servo operated camera
+AP_Camera::servo_pic()
 {
 	if (g_rc_function[RC_Channel_aux::k_cam_trigger])
 	{
@@ -27,15 +33,17 @@ AP_Camera::servo_pic()		// Servo operated camera
 	}
 }
 
+/// basic relay activation
 void
-AP_Camera::relay_pic()		// basic relay activation
+AP_Camera::relay_pic()
 {
 	relay.on();
 	keep_cam_trigg_active_cycles = 2;	// leave a message that it should be active for two event loop cycles
 }
 
+/// pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
 void
-AP_Camera::throttle_pic()		// pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
+AP_Camera::throttle_pic()
 {
 // TODO find a way to do this without using the global parameter g
 //	g.channel_throttle.radio_out = g.throttle_min;
@@ -47,8 +55,9 @@ AP_Camera::throttle_pic()		// pictures blurry? use this trigger. Turns off the t
 	thr_pic++;
 }
 
+/// pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
 void
-AP_Camera::distance_pic()		// pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
+AP_Camera::distance_pic()
 {
 // TODO find a way to do this without using the global parameter g
 //	g.channel_throttle.radio_out = g.throttle_min;
@@ -58,15 +67,16 @@ AP_Camera::distance_pic()		// pictures blurry? use this trigger. Turns off the t
 	}
 }
 
+/// hacked the circuit to run a transistor? use this trigger to send output.
 void
-AP_Camera::NPN_pic()		// hacked the circuit to run a transistor? use this trigger to send output.
+AP_Camera::NPN_pic()
 {
 	// TODO: Assign pin spare pin for output
 	digitalWrite(camtrig, HIGH);
 	keep_cam_trigg_active_cycles = 1;	// leave a message that it should be active for two event loop cycles
 }
 
-// single entry point to take pictures
+/// single entry point to take pictures
 void
 AP_Camera::trigger_pic()
 {
@@ -90,7 +100,7 @@ AP_Camera::trigger_pic()
 	}
 }
 
-// de-activate the trigger after some delay, but without using a delay() function
+/// de-activate the trigger after some delay, but without using a delay() function
 void
 AP_Camera::trigger_pic_cleanup()
 {
@@ -116,6 +126,8 @@ AP_Camera::trigger_pic_cleanup()
 		}
 	}
 }
+
+/// decode MavLink that configures camera
 void
 AP_Camera::configure_msg(mavlink_message_t* msg)
 {
@@ -143,6 +155,7 @@ AP_Camera::configure_msg(mavlink_message_t* msg)
 	mavlink_msg_digicam_configure_send(MAVLINK_COMM_3, packet.target_system, packet.target_component, packet.mode, packet.shutter_speed, packet.aperture, packet.iso, packet.exposure_type, packet.command_id, packet.engine_cut_off, packet.extra_param, packet.extra_value);
 }
 
+/// decode MavLink that controls camera
 void
 AP_Camera::control_msg(mavlink_message_t* msg)
 {

libraries/AP_Camera/AP_Camera.h

@@ -2,6 +2,7 @@
 
 /// @file	AP_Camera.h
 /// @brief	Photo or video camera manager, with EEPROM-backed storage of constants.
+/// @author Amilcar Lucas
 
 #ifndef AP_CAMERA_H
 #define AP_CAMERA_H
@@ -35,17 +36,17 @@ public:
 	void configure_msg(mavlink_message_t* msg);
 	void control_msg(mavlink_message_t* msg);
 
-	int picture_time;					// waypoint trigger variable
+	int picture_time;					///< waypoint trigger variable
-	long wp_distance_min;				// take picture if distance to WP is smaller than this
+	long wp_distance_min;				///< take picture if distance to WP is smaller than this
 
     static const struct AP_Param::GroupInfo var_info[];
 
 private:
-	uint8_t keep_cam_trigg_active_cycles; // event loop cycles to keep trigger active
+	uint8_t keep_cam_trigg_active_cycles; ///< event loop cycles to keep trigger active
-	int thr_pic;						// timer variable for throttle_pic
+	int thr_pic;						///< timer variable for throttle_pic
-	int camtrig;						// PK6 chosen as it not near anything so safer for soldering
+	int camtrig;						///< PK6 chosen as it not near anything so safer for soldering
 
-	AP_Int8		trigger_type;	// 0=Servo, 1=relay, 2=throttle_off time, 3=throttle_off waypoint 4=transistor
+	AP_Int8		trigger_type;	///< 0=Servo, 1=relay, 2=throttle_off time, 3=throttle_off waypoint, 4=transistor
 
 	void servo_pic();		// Servo operated camera
 	void relay_pic();		// basic relay activation

libraries/RC_Channel/RC_Channel_aux.cpp

@@ -30,9 +30,10 @@ const AP_Param::GroupInfo RC_Channel_aux::var_info[] PROGMEM = {
 	AP_GROUPEND
 };
 
-// Global pointer array, indexed by a "RC function enum" and points to the RC channel output assigned to that function/operation
+/// Global pointer array, indexed by a "RC function enum" and points to the RC channel output assigned to that function/operation
 RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions];
 
+/// saturate to the closest angle limit if outside of min max angle interval
 int16_t
 RC_Channel_aux::closest_limit(int16_t angle)
 {
@@ -69,8 +70,8 @@ RC_Channel_aux::closest_limit(int16_t angle)
 	return angle;
 }
 
-// Gets the RC and integrates and then compares with the servo out angles to limit control input to servo travel.
+/// Gets the RC and integrates and then compares with the servo out angles to limit control input to servo travel.
-// That way the user doesn't get lost. Rotationally.
+/// That way the user doesn't get lost. Rotationally.
 void
 RC_Channel_aux::rc_input(float *control_angle, int16_t angle)
 {
@@ -79,8 +80,8 @@ RC_Channel_aux::rc_input(float *control_angle, int16_t angle)
 	}
 }
 
-// Takes the desired servo angle(deg) and converts to microSeconds for PWM
+/// Takes the desired servo angle(deg) and converts to microSeconds for PWM
-// Like this: 45 deg = 2000 us ; -45 deg/1000 us. 1000us/(90*100 deg) = 0.1111111111111
+/// Like this: 45 deg = 2000 us ; -45 deg/1000 us. 1000us/(90*100 deg) = 0.1111111111111
 void
 RC_Channel_aux::angle_out(int16_t angle)
 {
@@ -94,7 +95,7 @@ RC_Channel_aux::angle_out(int16_t angle)
 	radio_out = (/*_reverse * */ angle * 0.1111111) + 1500;
 }
 
-// map a function to a servo channel and output it
+/// map a function to a servo channel and output it
 void
 RC_Channel_aux::output_ch(unsigned char ch_nr)
 {
@@ -112,10 +113,10 @@ RC_Channel_aux::output_ch(unsigned char ch_nr)
 	_apm_rc->OutputCh(ch_nr, radio_out);
 }
 
-// Update the g_rc_function array of pointers to rc_x channels
+/// Update the g_rc_function array of pointers to rc_x channels
-// This is to be done before rc_init so that the channels get correctly initialized.
+/// This is to be done before rc_init so that the channels get correctly initialized.
-// It also should be called periodically because the user might change the configuration and
+/// It also should be called periodically because the user might change the configuration and
-// expects the changes to take effect instantly
+/// expects the changes to take effect instantly
 void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Channel_aux* rc_7, RC_Channel_aux* rc_8)
 {
 	// positions 0..3 of this array never get used, but this is a stack array, so the entire array gets freed at the end of the function

libraries/RC_Channel/RC_Channel_aux.h

@@ -32,32 +32,32 @@ public:
 
 	typedef enum
 	{
-		k_none			= 0,	// disabled
+		k_none			= 0,	///< disabled
-		k_manual		= 1,	// manual, just pass-thru the RC in signal
+		k_manual		= 1,	///< manual, just pass-thru the RC in signal
-		k_flap			= 2,	// flap
+		k_flap			= 2,	///< flap
-		k_flap_auto		= 3,	// flap automated
+		k_flap_auto		= 3,	///< flap automated
-		k_aileron		= 4,	// aileron
+		k_aileron		= 4,	///< aileron
-		k_flaperon		= 5,	// flaperon (flaps and aileron combined, needs two independent servos one for each wing)
+		k_flaperon		= 5,	///< flaperon (flaps and aileron combined, needs two independent servos one for each wing)
-		k_mount_yaw		= 6,	// mount yaw (pan)
+		k_mount_yaw		= 6,	///< mount yaw (pan)
-		k_mount_pitch	= 7,	// mount pitch (tilt)
+		k_mount_pitch	= 7,	///< mount pitch (tilt)
-		k_mount_roll	= 8,	// mount roll
+		k_mount_roll	= 8,	///< mount roll
-		k_mount_open	= 9,	// mount open (deploy) / close (retract)
+		k_mount_open	= 9,	///< mount open (deploy) / close (retract)
-		k_cam_trigger	= 10,	// camera trigger
+		k_cam_trigger	= 10,	///< camera trigger
-		k_egg_drop		= 11,	// egg drop
+		k_egg_drop		= 11,	///< egg drop
-		k_nr_aux_servo_functions // This must be the last enum value (only add new values _before_ this one)
+		k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one)
 	} Aux_servo_function_t;
 
-	AP_Int8 	function;	// 0=disabled, 1=manual, 2=flap, 3=flap auto, 4=aileron, 5=flaperon, 6=mount yaw (pan), 7=mount pitch (tilt), 8=mount roll, 9=camera trigger, 10=camera open, 11=egg drop
+	AP_Int8 	function;	///< see Aux_servo_function_t enum
-	AP_Int16 	angle_min;	// min angle limit of actuated surface in 0.01 degree units
+	AP_Int16 	angle_min;	///< min angle limit of actuated surface in 0.01 degree units
-	AP_Int16 	angle_max;	// max angle limit of actuated surface in 0.01 degree units
+	AP_Int16 	angle_max;	///< max angle limit of actuated surface in 0.01 degree units
 
-	int16_t closest_limit(int16_t angle);	// saturate to the closest angle limit if outside of min max angle interval
+	int16_t closest_limit(int16_t angle);
 
 	void angle_out(int16_t angle);
 
 	void rc_input(float *control_angle, int16_t angle);
 
-	void output_ch(unsigned char ch_nr);	// map a function to a servo channel and output it
+	void output_ch(unsigned char ch_nr);
 
 	static const struct AP_Param::GroupInfo var_info[];
 };