Working on comments.

libraries/APO/AP_Autopilot.cpp

@@ -5,14 +5,6 @@
  *      Author: jgoppert
  */
 
-/*
- * AVR runtime
- */
-//#include <avr/io.h>
-//#include <avr/eeprom.h>
-//#include <avr/pgmspace.h>
-//#include <math.h>
-
 #include "../FastSerial/FastSerial.h"
 #include "AP_Autopilot.h"
 #include "../AP_GPS/AP_GPS.h"
@@ -25,7 +17,6 @@
 #include "AP_Guide.h"
 #include "AP_BatteryMonitor.h"
 
-
 namespace apo {
 
 class AP_HardwareAbstractionLayer;

libraries/APO/AP_Autopilot.h

@@ -113,12 +113,6 @@ private:
     AP_Guide * _guide;
     AP_Controller * _controller;
     AP_HardwareAbstractionLayer * _hal;
-
-    /**
-     * Constants
-     */
-    static const float deg2rad = M_PI / 180;
-    static const float rad2deg = 180 / M_PI;
 };
 
 } // namespace apo

libraries/APO/AP_Navigator.h

@@ -259,17 +259,17 @@ public:
 protected:
     AP_HardwareAbstractionLayer * _hal;
 private:
-    int32_t _timeStamp; // micros clock
+    int32_t _timeStamp;     /// time stamp for navigation data, micros clock
-    float _roll; // rad
+    float _roll;            /// roll angle, radians
-    float _rollRate; //rad/s
+    float _rollRate;        /// roll rate, radians/s
-    float _pitch; // rad
+    float _pitch;           /// pitch angle, radians
-    float _pitchRate; // rad/s
+    float _pitchRate;       /// pitch rate, radians/s
-    float _yaw; // rad
+    float _yaw;             /// yaw angle, radians
-    float _yawRate; // rad/s
+    float _yawRate;         /// yaw rate, radians/s
-    // wind assumed to be N-E plane
+    // vertical 
-    float _windSpeed; // m/s
+    float _windSpeed;       /// wind speed, m/s
-    float _windDirection; // m/s
+    float _windDirection;   /// wind directioin, radians
-    float _vN;
+    float _vN;              /// 
     float _vE;
     float _vD; // m/s
     float _xAccel;