ArduCopter: add comments at the top of many navigation functions

ArduCopter/commands_logic.pde

@@ -3,6 +3,7 @@
 /********************************************************************************/
 // Command Event Handlers
 /********************************************************************************/
+// process_nav_command - main switch statement to initiate the next nav command in the command_nav_queue
 static void process_nav_command()
 {
     switch(command_nav_queue.id) {
@@ -136,6 +137,8 @@ static void process_now_command()
 // Verify command Handlers
 /********************************************************************************/
 
+// verify_must - switch statement to ensure the active navigation command is progressing
+// returns true once the active navigation command completes successfully
 static bool verify_must()
 {
     switch(command_nav_queue.id) {
@@ -179,6 +182,8 @@ static bool verify_must()
     }
 }
 
+// verify_may - switch statement to ensure the active conditional command is progressing
+// returns true once the active conditional command completes successfully
 static bool verify_may()
 {
     switch(command_cond_queue.id) {
@@ -242,6 +247,7 @@ static void do_RTL(void)
 //	Nav (Must) commands
 /********************************************************************************/
 
+// do_takeoff - initiate takeoff navigation command
 static void do_takeoff()
 {
     wp_control = LOITER_MODE;
@@ -259,6 +265,7 @@ static void do_takeoff()
     set_next_WP(&temp);
 }
 
+// do_nav_wp - initiate move to next waypoint
 static void do_nav_wp()
 {
     wp_control = WP_MODE;
@@ -279,6 +286,7 @@ static void do_nav_wp()
     }
 }
 
+// do_land - initiate landing procedure
 static void do_land()
 {
     wp_control = LOITER_MODE;
@@ -302,6 +310,7 @@ static void do_loiter_unlimited()
     }
 }
 
+// do_loiter_turns - initiate moving in a circle
 static void do_loiter_turns()
 {
     wp_control = CIRCLE_MODE;
@@ -327,6 +336,7 @@ static void do_loiter_turns()
     circle_angle *= RADX100;
 }
 
+// do_loiter_time - initiate loitering at a point for a given time period
 static void do_loiter_time()
 {
     if(command_nav_queue.lat == 0) {
@@ -345,6 +355,7 @@ static void do_loiter_time()
 //	Verify Nav (Must) commands
 /********************************************************************************/
 
+// verify_takeoff - check if we have completed the takeoff
 static bool verify_takeoff()
 {
     // wait until we are ready!
@@ -362,6 +373,7 @@ static bool verify_land()
     return ap.land_complete;
 }
 
+// verify_nav_wp - check if we have reached the next way point
 static bool verify_nav_wp()
 {
     // Altitude checking
@@ -421,6 +433,7 @@ static bool verify_loiter_unlimited()
     return false;
 }
 
+// verify_loiter_time - check if we have loitered long enough
 static bool verify_loiter_time()
 {
     if(wp_control == LOITER_MODE) {
@@ -437,6 +450,7 @@ static bool verify_loiter_time()
     return false;
 }
 
+// verify_loiter_turns - check if we have circled the point enough
 static bool verify_loiter_turns()
 {
     //cliSerial->printf("loiter_sum: %d \n", loiter_sum);

ArduCopter/commands_process.pde

@@ -28,8 +28,8 @@ static void change_command(uint8_t cmd_index)
     }
 }
 
+// update_commands - initiates new navigation commands if we have completed the previous command
 // called by 10 Hz loop
-// --------------------
 static void update_commands()
 {
     //cliSerial->printf("update_commands: %d\n",increment );
@@ -148,6 +148,7 @@ static void update_commands()
     }
 }
 
+// execute_nav_command - performs minor initialisation and logging before next navigation command in the queue is executed
 static void execute_nav_command(void)
 {
     // This is what we report to MAVLINK
@@ -168,7 +169,8 @@ static void execute_nav_command(void)
     command_cond_index      = NO_COMMAND;
 }
 
-// called with GPS navigation update - not constantly
+// verify_commands - high level function to check if navigation and conditional commands have completed
+// called after GPS navigation update - not constantly
 static void verify_commands(void)
 {
     if(verify_must()) {