add comments

src/height/src/height_reader.cpp

@@ -1,5 +1,10 @@
+/**
+ * @file height_reader.cpp
+ * @author Sem van der Hoeven (sem.hoeven@gmail.com)
+ * @brief Uses the Terabee API to read the Terabee Evo Mini
+ * height sensor data and publishes it on a /drone/height topic
+ */
 #include <chrono>
-#include <iostream>
 
 #include "rclcpp/rclcpp.hpp"
 #include "height/msg/height_data.hpp"
@@ -47,12 +52,18 @@ public:
     }
 
 private:
+    /**
+     * @brief reads the height value from the Terabee Evo Mini sensor and publishes a
+     *
+     */
     void read_height()
     {
         auto msg = height::msg::HeightData();
 
+        // high initial minimal value
         float min = 255;
         terabee::DistanceData distance_data = evo_mini->getDistance();
+        // add readings and calculate mimimum value
         for (size_t i = 0; i < distance_data.size(); i++)
         {
             msg.heights[i] = distance_data.distance[i];
@@ -61,16 +72,21 @@ private:
                 min = distance_data.distance[i];
             }
         }
+        // add minimum value and publish message
         msg.min_height = min;
         publisher_->publish(msg);
 
-    RCLCPP_INFO(this->get_logger(),"publishing message with min distance %f",msg.min_height);
+        RCLCPP_INFO(this->get_logger(), "publishing message with min distance %f", msg.min_height);
     }
 
+    // timer for publishing height readings
     rclcpp::TimerBase::SharedPtr timer_;
+    // publisher for height readings
     rclcpp::Publisher<height::msg::HeightData>::SharedPtr publisher_;
 
+    // factory for height sensor
     std::unique_ptr<terabee::ITerarangerFactory> factory;
+    // height sensor object pointer
     std::unique_ptr<terabee::ITerarangerEvoMini> evo_mini;
 };
 

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"
@@ -27,7 +33,7 @@ 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.
      *
@@ -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 @@
-/*
+/**
-
+ * @file px4_controller.cpp
-We need to send attitude setpoints to be able to arm the drone:
+ * @author Sem van der Hoeven (sem.hoeven@gmail.com)
-https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET
+ * @brief Controller node to contol the PX4 using attitude or trajectory setpoints. 
-We need attitude setpoints because we don't have a GPS:
+ * It subscribes to the /drone/set_attitude topic to receive control commands
-https://discuss.px4.io/t/cannot-arm-drone-with-companion-computer-arming-denied-manual-control-lost/31565/9
+ */
-
-*/
 
 #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;