Merge branch 'ardrone' of https://github.com/PX4/Firmware into ardrone

Conflicts:
	apps/ardrone_interface/ardrone_motor_control.c

3 files changed, 5 insertions, 3 deletions

diff --git a/apps/ardrone_interface/ardrone_interface.c b/apps/ardrone_interface/ardrone_interface.c
index f12f9cb47..f0bc0b1e7 100644
--- a/apps/ardrone_interface/ardrone_interface.c
+++ b/apps/ardrone_interface/ardrone_interface.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/apps/ardrone_interface/ardrone_motor_control.c b/apps/ardrone_interface/ardrone_motor_control.c
index 89ed183cc..e410d3a71 100644
--- a/apps/ardrone_interface/ardrone_motor_control.c
+++ b/apps/ardrone_interface/ardrone_motor_control.c
@@ -306,7 +306,7 @@ int ar_init_motors(int ardrone_uart, int gpios)
 	return errcounter;
 }
 
-/*
+/**
  * Sets the leds on the motor controllers, 1 turns led on, 0 off.
  */
 void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green)
@@ -373,7 +373,6 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
 	const float min_thrust = 0.02f;			/**< 2% minimum thrust */
 	const float max_thrust = 1.0f;			/**< 100% max thrust */
 	const float scaling = 500.0f;			/**< 100% thrust equals a value of 500 which works, 512 leads to cutoff */
-
 	const float min_gas = min_thrust * scaling;	/**< value range sent to motors, minimum */
 	const float max_gas = max_thrust * scaling;	/**< value range sent to motors, maximum */
 
diff --git a/apps/ardrone_interface/ardrone_motor_control.h b/apps/ardrone_interface/ardrone_motor_control.h
index 664419707..78b603b63 100644
--- a/apps/ardrone_interface/ardrone_motor_control.h
+++ b/apps/ardrone_interface/ardrone_motor_control.h
@@ -87,4 +87,7 @@ int ar_init_motors(int ardrone_uart, int gpio);
  */
 void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green);
 
+/**
+ * Mix motors and output actuators
+ */
 void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators);