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-rw-r--r--src/modules/commander/accelerometer_calibration.c50
-rw-r--r--src/modules/commander/accelerometer_calibration.h43
-rw-r--r--src/modules/multirotor_att_control/multirotor_attitude_control.c22
-rw-r--r--src/modules/multirotor_att_control/multirotor_attitude_control.h22
-rw-r--r--src/modules/multirotor_att_control/multirotor_rate_control.c6
-rw-r--r--src/modules/multirotor_att_control/multirotor_rate_control.h24
-rw-r--r--src/modules/sdlog2/logbuffer.c4
-rw-r--r--src/modules/sdlog2/logbuffer.h4
-rw-r--r--src/modules/sdlog2/sdlog2.c4
-rw-r--r--src/modules/sdlog2/sdlog2_format.h4
-rw-r--r--src/modules/sdlog2/sdlog2_messages.h4
-rw-r--r--src/modules/systemlib/pid/pid.c18
-rw-r--r--src/modules/systemlib/pid/pid.h18
13 files changed, 167 insertions, 56 deletions
diff --git a/src/modules/commander/accelerometer_calibration.c b/src/modules/commander/accelerometer_calibration.c
index d79dd93dd..48a36ac26 100644
--- a/src/modules/commander/accelerometer_calibration.c
+++ b/src/modules/commander/accelerometer_calibration.c
@@ -1,12 +1,45 @@
-/*
- * accelerometer_calibration.c
+/****************************************************************************
+ *
+ * Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ * 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:
*
- * Copyright (C) 2013 Anton Babushkin. All rights reserved.
- * Author: Anton Babushkin <rk3dov@gmail.com>
+ * 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.
*
- * Transform acceleration vector to true orientation and scale
+ * 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 accelerometer_calibration.c
*
- * * * * Model * * *
+ * Implementation of accelerometer calibration.
+ *
+ * Transform acceleration vector to true orientation, scale and offset
+ *
+ * ===== Model =====
* accel_corr = accel_T * (accel_raw - accel_offs)
*
* accel_corr[3] - fully corrected acceleration vector in body frame
@@ -14,7 +47,7 @@
* accel_raw[3] - raw acceleration vector
* accel_offs[3] - acceleration offset vector
*
- * * * * Calibration * * *
+ * ===== Calibration =====
*
* Reference vectors
* accel_corr_ref[6][3] = [ g 0 0 ] // nose up
@@ -34,7 +67,6 @@
*
* accel_offs[i] = (accel_raw_ref[i*2][i] + accel_raw_ref[i*2+1][i]) / 2
*
- *
* Find accel_T
*
* 9 unknown constants
@@ -67,6 +99,8 @@
*
* accel_T = A^-1 * g
* g = 9.80665
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
*/
#include "accelerometer_calibration.h"
diff --git a/src/modules/commander/accelerometer_calibration.h b/src/modules/commander/accelerometer_calibration.h
index a11cf93d3..f93a867ba 100644
--- a/src/modules/commander/accelerometer_calibration.h
+++ b/src/modules/commander/accelerometer_calibration.h
@@ -1,8 +1,43 @@
-/*
- * accelerometer_calibration.h
+/****************************************************************************
*
- * Copyright (C) 2013 Anton Babushkin. All rights reserved.
- * Author: Anton Babushkin <rk3dov@gmail.com>
+ * Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ * 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 accelerometer_calibration.h
+ *
+ * Definition of accelerometer calibration.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef ACCELEROMETER_CALIBRATION_H_
diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c
index 5c74f1e77..8f19c6a4b 100644
--- a/src/modules/multirotor_att_control/multirotor_attitude_control.c
+++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c
@@ -1,12 +1,12 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
- * @author Laurens Mackay <mackayl@student.ethz.ch>
- * @author Tobias Naegeli <naegelit@student.ethz.ch>
- * @author Martin Rutschmann <rutmarti@student.ethz.ch>
- * @author Lorenz Meier <lm@inf.ethz.ch>
+ * Author: Thomas Gubler <thomasgubler@student.ethz.ch>
+ * Julian Oes <joes@student.ethz.ch>
+ * Laurens Mackay <mackayl@student.ethz.ch>
+ * Tobias Naegeli <naegelit@student.ethz.ch>
+ * Martin Rutschmann <rutmarti@student.ethz.ch>
+ * 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
@@ -39,7 +39,15 @@
/*
* @file multirotor_attitude_control.c
- * Implementation of attitude controller
+ *
+ * Implementation of attitude controller for multirotors.
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Laurens Mackay <mackayl@student.ethz.ch>
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Martin Rutschmann <rutmarti@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include "multirotor_attitude_control.h"
diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.h b/src/modules/multirotor_att_control/multirotor_attitude_control.h
index 2cf83e443..e78f45c47 100644
--- a/src/modules/multirotor_att_control/multirotor_attitude_control.h
+++ b/src/modules/multirotor_att_control/multirotor_attitude_control.h
@@ -1,12 +1,12 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
- * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
- * @author Laurens Mackay <mackayl@student.ethz.ch>
- * @author Tobias Naegeli <naegelit@student.ethz.ch>
- * @author Martin Rutschmann <rutmarti@student.ethz.ch>
- * @author Lorenz Meier <lm@inf.ethz.ch>
+ * Author: Thomas Gubler <thomasgubler@student.ethz.ch>
+ * Julian Oes <joes@student.ethz.ch>
+ * Laurens Mackay <mackayl@student.ethz.ch>
+ * Tobias Naegeli <naegelit@student.ethz.ch>
+ * Martin Rutschmann <rutmarti@student.ethz.ch>
+ * 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
@@ -39,7 +39,15 @@
/*
* @file multirotor_attitude_control.h
- * Attitude control for multi rotors.
+ *
+ * Definition of attitude controller for multirotors.
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Laurens Mackay <mackayl@student.ethz.ch>
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Martin Rutschmann <rutmarti@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
*/
#ifndef MULTIROTOR_ATTITUDE_CONTROL_H_
diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c
index 61498b71f..e58d357d5 100644
--- a/src/modules/multirotor_att_control/multirotor_rate_control.c
+++ b/src/modules/multirotor_att_control/multirotor_rate_control.c
@@ -1,9 +1,10 @@
/****************************************************************************
*
- * Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ * Copyright (C) 2012-2013 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>
+ * Julian Oes <joes@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -37,11 +38,12 @@
/**
* @file multirotor_rate_control.c
*
- * Implementation of rate controller
+ * Implementation of rate controller for multirotors.
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Julian Oes <joes@student.ethz.ch>
*/
#include "multirotor_rate_control.h"
diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.h b/src/modules/multirotor_att_control/multirotor_rate_control.h
index 03dec317a..362b5ed86 100644
--- a/src/modules/multirotor_att_control/multirotor_rate_control.h
+++ b/src/modules/multirotor_att_control/multirotor_rate_control.h
@@ -1,12 +1,12 @@
/****************************************************************************
*
- * Copyright (C) 2012 PX4 Development Team. All rights reserved.
- * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
- * @author Laurens Mackay <mackayl@student.ethz.ch>
- * @author Tobias Naegeli <naegelit@student.ethz.ch>
- * @author Martin Rutschmann <rutmarti@student.ethz.ch>
- * @author Lorenz Meier <lm@inf.ethz.ch>
+ * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ * Author: Thomas Gubler <thomasgubler@student.ethz.ch>
+ * Julian Oes <joes@student.ethz.ch>
+ * Laurens Mackay <mackayl@student.ethz.ch>
+ * Tobias Naegeli <naegelit@student.ethz.ch>
+ * Martin Rutschmann <rutmarti@student.ethz.ch>
+ * 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
@@ -39,7 +39,15 @@
/*
* @file multirotor_attitude_control.h
- * Attitude control for multi rotors.
+ *
+ * Definition of rate controller for multirotors.
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Laurens Mackay <mackayl@student.ethz.ch>
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Martin Rutschmann <rutmarti@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
*/
#ifndef MULTIROTOR_RATE_CONTROL_H_
diff --git a/src/modules/sdlog2/logbuffer.c b/src/modules/sdlog2/logbuffer.c
index 2e1e4fd4d..b3243f7b5 100644
--- a/src/modules/sdlog2/logbuffer.c
+++ b/src/modules/sdlog2/logbuffer.c
@@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
- * Author: Anton Babushkin <rk3dov@gmail.com>
+ * 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
@@ -37,7 +37,7 @@
*
* Ring FIFO buffer for binary log data.
*
- * @author Anton Babushkin <rk3dov@gmail.com>
+ * @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <string.h>
diff --git a/src/modules/sdlog2/logbuffer.h b/src/modules/sdlog2/logbuffer.h
index 31521f722..3a5e3a29f 100644
--- a/src/modules/sdlog2/logbuffer.h
+++ b/src/modules/sdlog2/logbuffer.h
@@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
- * Author: Anton Babushkin <rk3dov@gmail.com>
+ * 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
@@ -37,7 +37,7 @@
*
* Ring FIFO buffer for binary log data.
*
- * @author Anton Babushkin <rk3dov@gmail.com>
+ * @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef SDLOG2_RINGBUFFER_H_
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index c543fb1b4..f31277831 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -2,7 +2,7 @@
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
- * Anton Babushkin <rk3dov@gmail.com>
+ * 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
@@ -40,7 +40,7 @@
* does the heavy SD I/O in a low-priority worker thread.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Anton Babushkin <rk3dov@gmail.com>
+ * @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <nuttx/config.h>
diff --git a/src/modules/sdlog2/sdlog2_format.h b/src/modules/sdlog2/sdlog2_format.h
index 59b91d90d..5c175ef7e 100644
--- a/src/modules/sdlog2/sdlog2_format.h
+++ b/src/modules/sdlog2/sdlog2_format.h
@@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
- * Author: Anton Babushkin <rk3dov@gmail.com>
+ * 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
@@ -37,7 +37,7 @@
*
* General log format structures and macro.
*
- * @author Anton Babushkin <rk3dov@gmail.com>
+ * @author Anton Babushkin <anton.babushkin@me.com>
*/
/*
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 7f7bf6053..2f7ddabf2 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
- * Author: Anton Babushkin <rk3dov@gmail.com>
+ * 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
@@ -37,7 +37,7 @@
*
* Log messages and structures definition.
*
- * @author Anton Babushkin <rk3dov@gmail.com>
+ * @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef SDLOG2_MESSAGES_H_
diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c
index 5eb6b279c..4996a8f66 100644
--- a/src/modules/systemlib/pid/pid.c
+++ b/src/modules/systemlib/pid/pid.c
@@ -1,10 +1,11 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
- * Author: @author Laurens Mackay <mackayl@student.ethz.ch>
- * @author Tobias Naegeli <naegelit@student.ethz.ch>
- * @author Martin Rutschmann <rutmarti@student.ethz.ch>
- * @author Anton Babushkin <anton.babushkin@me.com>
+ * Author: Laurens Mackay <mackayl@student.ethz.ch>
+ * Tobias Naegeli <naegelit@student.ethz.ch>
+ * Martin Rutschmann <rutmarti@student.ethz.ch>
+ * Anton Babushkin <anton.babushkin@me.com>
+ * Julian Oes <joes@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -37,7 +38,14 @@
/**
* @file pid.c
- * Implementation of generic PID control interface
+ *
+ * Implementation of generic PID control interface.
+ *
+ * @author Laurens Mackay <mackayl@student.ethz.ch>
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Martin Rutschmann <rutmarti@student.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Julian Oes <joes@student.ethz.ch>
*/
#include "pid.h"
diff --git a/src/modules/systemlib/pid/pid.h b/src/modules/systemlib/pid/pid.h
index 9ebd8e6d9..714bf988f 100644
--- a/src/modules/systemlib/pid/pid.h
+++ b/src/modules/systemlib/pid/pid.h
@@ -1,10 +1,11 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
- * Author: @author Laurens Mackay <mackayl@student.ethz.ch>
- * @author Tobias Naegeli <naegelit@student.ethz.ch>
- * @author Martin Rutschmann <rutmarti@student.ethz.ch>
- * @author Anton Babushkin <anton.babushkin@me.com>
+ * Author: Laurens Mackay <mackayl@student.ethz.ch>
+ * Tobias Naegeli <naegelit@student.ethz.ch>
+ * Martin Rutschmann <rutmarti@student.ethz.ch>
+ * Anton Babushkin <anton.babushkin@me.com>
+ * Julian Oes <joes@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -37,7 +38,14 @@
/**
* @file pid.h
- * Definition of generic PID control interface
+ *
+ * Definition of generic PID control interface.
+ *
+ * @author Laurens Mackay <mackayl@student.ethz.ch>
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Martin Rutschmann <rutmarti@student.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Julian Oes <joes@student.ethz.ch>
*/
#ifndef PID_H_
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-28 19:10:33 +0000