add comments

src/px4_connection/src/heartbeat.cpp

@@ -1,3 +1,9 @@
+/**
+ * @file heartbeat.cpp
+ * @author Sem van der Hoeven (sem.hoeven@gmail.com)
+ * @brief Heartbeat node that keeps the connection between the flight computer 
+ * and PX4 flight controller alive by sending OffboardControl messages
+ */
 #include <chrono>
 
 #include "rclcpp/rclcpp.hpp"
@@ -27,11 +33,11 @@ private:
     // start time of node in seconds
     double start_time;
 
-/**
- * @brief Publish offboard control mode messages as a heartbeat.
- *        Only the attitude is enabled, because that is how the drone will be controlled.
- * 
- */
+    /**
+     * @brief Publish offboard control mode messages as a heartbeat.
+     *        Only the attitude is enabled, because that is how the drone will be controlled.
+     *
+     */
     void send_heartbeat()
     {
         // set message to enable attitude
@@ -46,7 +52,6 @@ private:
         // get timestamp and publish message
         msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
         offboard_control_mode_publisher_->publish(msg);
-
     }
 };
 

src/px4_connection/src/px4_controller.cpp

@@ -1,17 +1,14 @@
-/*
-
-We need to send attitude setpoints to be able to arm the drone:
-https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET
-We need attitude setpoints because we don't have a GPS:
-https://discuss.px4.io/t/cannot-arm-drone-with-companion-computer-arming-denied-manual-control-lost/31565/9
-
-*/
+/**
+ * @file px4_controller.cpp
+ * @author Sem van der Hoeven (sem.hoeven@gmail.com)
+ * @brief Controller node to contol the PX4 using attitude or trajectory setpoints. 
+ * It subscribes to the /drone/set_attitude topic to receive control commands
+ */
 
 #include <chrono>
 #include <math.h>
 
 #include "rclcpp/rclcpp.hpp"
-// #include "attitude_msg_code.hpp"
 
 #include <px4_msgs/msg/vehicle_attitude_setpoint.hpp>
 #include <px4_msgs/msg/trajectory_setpoint.hpp>
@@ -23,8 +20,6 @@ https://discuss.px4.io/t/cannot-arm-drone-with-companion-computer-arming-denied-
 
 #include <std_srvs/srv/empty.hpp>
 
-// #include <px4_msgs/msg/offboard_control_mode.hpp>
-
 #define D_SPEED(x) -x - 9.81
 
 using namespace std::chrono_literals;