From e595952ed4d6c96b5e27e22c8cfb266bd5f13a65 Mon Sep 17 00:00:00 2001
From: Silvan Fuhrer <silvan@auterion.com>
Date: Thu, 18 Aug 2022 09:20:52 +0200
Subject: [PATCH] FW Attitude Control: add @brief, @param and @return for
 control_attitude()

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---
 src/modules/fw_att_control/ecl_controller.h       | 7 +++++++
 src/modules/fw_att_control/ecl_pitch_controller.h | 7 +++++++
 src/modules/fw_att_control/ecl_roll_controller.h  | 7 +++++++
 src/modules/fw_att_control/ecl_wheel_controller.h | 7 +++++++
 src/modules/fw_att_control/ecl_yaw_controller.h   | 7 +++++++
 5 files changed, 35 insertions(+)

diff --git a/src/modules/fw_att_control/ecl_controller.h b/src/modules/fw_att_control/ecl_controller.h
index 774c3650e4..a32a922836 100644
--- a/src/modules/fw_att_control/ecl_controller.h
+++ b/src/modules/fw_att_control/ecl_controller.h
@@ -77,6 +77,13 @@ public:
 	ECL_Controller();
 	virtual ~ECL_Controller() = default;
 
+	/**
+	 * @brief Calculates both euler and body rate setpoints. Has different implementations for all body axes.
+	 *
+	 * @param dt Time step [s]
+	 * @param ctrl_data Various control inputs (attitude, body rates, attitdue stepoints, euler rate setpoints, current speeed)
+	 * @return Body rate setpoint [rad/s]
+	 */
 	virtual float control_attitude(const float dt, const ECL_ControlData &ctl_data) = 0;
 
 	/* Setters */
diff --git a/src/modules/fw_att_control/ecl_pitch_controller.h b/src/modules/fw_att_control/ecl_pitch_controller.h
index 76dffae916..97cc9ecb8b 100644
--- a/src/modules/fw_att_control/ecl_pitch_controller.h
+++ b/src/modules/fw_att_control/ecl_pitch_controller.h
@@ -60,6 +60,13 @@ public:
 	ECL_PitchController() = default;
 	~ECL_PitchController() = default;
 
+	/**
+	 * @brief Calculates both euler and body pitch rate setpoints.
+	 *
+	 * @param dt Time step [s]
+	 * @param ctrl_data Various control inputs (attitude, body rates, attitdue stepoints, euler rate setpoints, current speeed)
+	 * @return Pitch body rate setpoint [rad/s]
+	 */
 	float control_attitude(const float dt, const ECL_ControlData &ctl_data) override;
 
 	/* Additional Setters */
diff --git a/src/modules/fw_att_control/ecl_roll_controller.h b/src/modules/fw_att_control/ecl_roll_controller.h
index ae0473446f..63cc905c3c 100644
--- a/src/modules/fw_att_control/ecl_roll_controller.h
+++ b/src/modules/fw_att_control/ecl_roll_controller.h
@@ -58,6 +58,13 @@ public:
 	ECL_RollController() = default;
 	~ECL_RollController() = default;
 
+	/**
+	 * @brief Calculates both euler and body roll rate setpoints.
+	 *
+	 * @param dt Time step [s]
+	 * @param ctrl_data Various control inputs (attitude, body rates, attitdue stepoints, euler rate setpoints, current speeed)
+	 * @return Roll body rate setpoint [rad/s]
+	 */
 	float control_attitude(const float dt, const ECL_ControlData &ctl_data) override;
 };
 
diff --git a/src/modules/fw_att_control/ecl_wheel_controller.h b/src/modules/fw_att_control/ecl_wheel_controller.h
index b83f1326e1..dc77073d04 100644
--- a/src/modules/fw_att_control/ecl_wheel_controller.h
+++ b/src/modules/fw_att_control/ecl_wheel_controller.h
@@ -58,6 +58,13 @@ public:
 	ECL_WheelController() = default;
 	~ECL_WheelController() = default;
 
+	/**
+	 * @brief Calculates wheel body rate setpoint.
+	 *
+	 * @param dt Time step [s]
+	 * @param ctrl_data Various control inputs (attitude, body rates, attitdue stepoints, euler rate setpoints, current speeed)
+	 * @return Wheel body rate setpoint [rad/s]
+	 */
 	float control_attitude(const float dt, const ECL_ControlData &ctl_data) override;
 
 	float control_bodyrate(const float dt, const ECL_ControlData &ctl_data);
diff --git a/src/modules/fw_att_control/ecl_yaw_controller.h b/src/modules/fw_att_control/ecl_yaw_controller.h
index d365b043cf..08578ba083 100644
--- a/src/modules/fw_att_control/ecl_yaw_controller.h
+++ b/src/modules/fw_att_control/ecl_yaw_controller.h
@@ -58,6 +58,13 @@ public:
 	ECL_YawController() = default;
 	~ECL_YawController() = default;
 
+	/**
+	 * @brief Calculates both euler and body yaw rate setpoints.
+	 *
+	 * @param dt Time step [s]
+	 * @param ctrl_data Various control inputs (attitude, body rates, attitdue stepoints, euler rate setpoints, current speeed)
+	 * @return Yaw body rate setpoint [rad/s]
+	 */
 	float control_attitude(const float dt, const ECL_ControlData &ctl_data) override;
 
 };