Copyright and comments fixes

6 files changed, 66 insertions, 14 deletions

diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 93974c742..646dc84e6 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -1,9 +1,9 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
- *   Author: 	Tobias Naegeli <naegelit@student.ethz.ch>
- *   			Lorenz Meier <lm@inf.ethz.ch>
- *   			Anton Babushkin <anton.babushkin@me.com>
+ *   Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *           @author Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -36,7 +36,16 @@
 
 /**
  * @file mc_att_control_main.c
- * Implementation of a multicopter attitude controller based on desired rotation matrix.
+ * Multicopter attitude controller.
+ *
+ * The controller has two loops: P loop for angular error and PD loop for angular rate error.
+ * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
+ * For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
+ * so actual rotation axis is not constant. For large deviations controller rotates copter around fixed axis.
+ * These two approaches fused seamlessly with weight depending on angular error.
+ * When thrust vector directed near-horizontally (e.g. roll ~= PI/2) yaw setpoint ignored because of singularity.
+ * Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
+ * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
  */
 
 #include <nuttx/config.h>
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 28c8861b6..eb4d1f75e 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1,7 +1,7 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: Anton Babushkin <anton.babushkin@me.com>
+ *   Author: @author Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,8 +34,12 @@
 
 /**
  * @file mc_pos_control_main.cpp
+ * Multicopter position controller.
  *
- * Multirotor position controller.
+ * The controller has two loops: P loop for position error and PID loop for velocity error.
+ * Output of velocity controller is thrust vector that splitted to thrust direction
+ * (i.e. rotation matrix for multicopter orientation) and thrust module (i.e. multicopter thrust itself).
+ * Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
  */
 
 #include <nuttx/config.h>
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index 67aa24872..a00bc3644 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -1,13 +1,44 @@
-/*
- * mc_pos_control_params.c
+/****************************************************************************
  *
- *  Created on: 26.12.2013
- *      Author: ton
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: @author Anton Babushkin <anton.babushkin@me.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mc_pos_control_params.c
+ * Multicopter position controller parameters.
  */
 
 #include <systemlib/param/param.h>
 
-/* multicopter position controller parameters */
 PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.0f);
 PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
 PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
diff --git a/src/modules/mc_pos_control/module.mk b/src/modules/mc_pos_control/module.mk
index 1d98173fa..0b566d7bd 100644
--- a/src/modules/mc_pos_control/module.mk
+++ b/src/modules/mc_pos_control/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index af2b831dc..d77d8c6aa 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -1,9 +1,10 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
  *           @author Jean Cyr <jean.m.cyr@gmail.com>
  *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -39,6 +40,11 @@
  *
  * Handles missions, geo fencing and failsafe navigation behavior.
  * Published the mission item triplet for the position controller.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Jean Cyr <jean.m.cyr@gmail.com>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <nuttx/config.h>
diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c
index 617b2ec31..ff819fca4 100644
--- a/src/modules/navigator/navigator_params.c
+++ b/src/modules/navigator/navigator_params.c
@@ -1,8 +1,9 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @autho Lorenz Meier <lm@inf.ethz.ch>
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
  *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -40,6 +41,7 @@
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>
  * @author Julian Oes <joes@student.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <nuttx/config.h>