From 7ea76336ca03f724ba76661f986cc12cd0466ff8 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 11 Jul 2014 14:24:07 +0200
Subject: [PATCH] Better Doxygen for topics, no code changes

---
 src/drivers/drv_px4flow.h      | 16 ++++++++++++++--
 src/drivers/drv_range_finder.h |  9 +++++++++
 src/drivers/drv_rc_input.h     |  9 +++++++++
 3 files changed, 32 insertions(+), 2 deletions(-)

diff --git a/src/drivers/drv_px4flow.h b/src/drivers/drv_px4flow.h
index bef02d54ef..76ec55c3e8 100644
--- a/src/drivers/drv_px4flow.h
+++ b/src/drivers/drv_px4flow.h
@@ -46,10 +46,18 @@
 
 #define PX4FLOW_DEVICE_PATH	"/dev/px4flow"
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 /**
  * Optical flow in NED body frame in SI units.
  *
  * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ *
+ * @warning If possible the usage of the raw flow and performing rotation-compensation
+ *		using the autopilot angular rate estimate is recommended.
  */
 struct px4flow_report {
 
@@ -57,14 +65,18 @@ struct px4flow_report {
 
 	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
 	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
-	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
-	float flow_comp_y_m;		/**< speed over ground in meters, rotation-compensated */
+	float flow_comp_x_m;		/**< speed over ground in meters per second, rotation-compensated */
+	float flow_comp_y_m;		/**< speed over ground in meters per second, rotation-compensated */
 	float ground_distance_m;	/**< Altitude / distance to ground in meters */
 	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
 	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
 
 };
 
+/**
+ * @}
+ */
+
 /*
  * ObjDev tag for px4flow data.
  */
diff --git a/src/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h
index e45939b371..0f8362f588 100644
--- a/src/drivers/drv_range_finder.h
+++ b/src/drivers/drv_range_finder.h
@@ -50,6 +50,11 @@ enum RANGE_FINDER_TYPE {
 	RANGE_FINDER_TYPE_LASER = 0,
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 /**
  * range finder report structure.  Reads from the device must be in multiples of this
  * structure.
@@ -64,6 +69,10 @@ struct range_finder_report {
 	uint8_t valid;				/**< 1 == within sensor range, 0 = outside sensor range */
 };
 
+/**
+ * @}
+ */
+
 /*
  * ObjDev tag for raw range finder data.
  */
diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h
index 20763e2657..47fa8fa59a 100644
--- a/src/drivers/drv_rc_input.h
+++ b/src/drivers/drv_rc_input.h
@@ -67,6 +67,11 @@
  */
 #define RC_INPUT_RSSI_MAX	255
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 /**
  * Input signal type, value is a control position from zero to 100
  * percent.
@@ -141,6 +146,10 @@ struct rc_input_values {
 	rc_input_t		values[RC_INPUT_MAX_CHANNELS];
 };
 
+/**
+ * @}
+ */
+
 /*
  * ObjDev tag for R/C inputs.
  */