Completed main implementation and debugging

1 files changed, 16 insertions, 0 deletions

diff --git a/src/modules/systemlib/geo/geo.h b/src/modules/systemlib/geo/geo.h
index 0c0b5c533..84097b49f 100644
--- a/src/modules/systemlib/geo/geo.h
+++ b/src/modules/systemlib/geo/geo.h
@@ -82,8 +82,24 @@ __EXPORT void map_projection_project(double lat, double lon, float *x, float *y)
  */
 __EXPORT void map_projection_reproject(float x, float y, double *lat, double *lon);
 
+/**
+ * Returns the distance to the next waypoint in meters.
+ *
+ * @param lat_now current position in degrees (47.1234567°, not 471234567°)
+ * @param lon_now current position in degrees (8.1234567°, not 81234567°)
+ * @param lat_next next waypoint position in degrees (47.1234567°, not 471234567°)
+ * @param lon_next next waypoint position in degrees (8.1234567°, not 81234567°)
+ */
 __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
 
+/**
+ * Returns the bearing to the next waypoint in radians.
+ *
+ * @param lat_now current position in degrees (47.1234567°, not 471234567°)
+ * @param lon_now current position in degrees (8.1234567°, not 81234567°)
+ * @param lat_next next waypoint position in degrees (47.1234567°, not 471234567°)
+ * @param lon_next next waypoint position in degrees (8.1234567°, not 81234567°)
+ */
 __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
 
 __EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end);