[dox][navigation] cleanup indentation, add headers and doxygen file blocks

sw/airborne/firmwares/rotorcraft/navigation.c

@@ -19,6 +19,13 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/**
+ * @file firmwares/rotorcraft/navigation.c
+ *
+ * Rotorcraft navigation functions.
+ */
+
+
 #define NAV_C
 
 #include "firmwares/rotorcraft/navigation.h"

sw/airborne/firmwares/rotorcraft/navigation.h

@@ -19,6 +19,12 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/**
+ * @file firmwares/rotorcraft/navigation.h
+ *
+ * Rotorcraft navigation functions.
+ */
+
 #ifndef NAVIGATION_H
 #define NAVIGATION_H
 

sw/airborne/subsystems/nav.c

@@ -17,10 +17,11 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
-/** \file subsystems/nav.c
+
- *  \brief Regroup functions to compute navigation
+/**
+ * @file subsystems/nav.c
+ * Fixedwing functions to compute navigation.
  *
  */
 
@@ -135,8 +136,9 @@ void nav_circle_XY(float x, float y, float radius) {
   float alpha_carrot = nav_circle_trigo_qdr - sign_radius * carrot_angle;
   horizontal_mode = HORIZONTAL_MODE_CIRCLE;
   float radius_carrot = abs_radius;
-  if (nav_mode == NAV_MODE_COURSE)
+  if (nav_mode == NAV_MODE_COURSE) {
     radius_carrot += (abs_radius / cos(carrot_angle) - abs_radius);
+  }
   fly_to_xy(x+cos(alpha_carrot)*radius_carrot,
             y+sin(alpha_carrot)*radius_carrot);
   nav_in_circle = TRUE;
@@ -152,7 +154,7 @@ void nav_circle_XY(float x, float y, float radius) {
     float alt = start_alt + nav_leg_progress * diff_alt;                \
     float pre_climb = (*stateGetHorizontalSpeedNorm_f()) * diff_alt / nav_leg_length; \
     NavVerticalAltitudeMode(alt, pre_climb);                            \
-}
+  }
 
 
 
@@ -184,7 +186,7 @@ void nav_circle_XY(float x, float y, float radius) {
       }                                                                 \
     }                                                                   \
     nav_circle_XY(carrot_x, carrot_y, radius);                          \
-}
+  }
 
 
 #define NavFollow(_ac_id, _distance, _height)   \

sw/airborne/subsystems/nav.h

@@ -17,14 +17,15 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
-/** \file nav.h
+/**
- *  \brief Navigation library
+ * @file subsystems/nav.h
+ *
+ * Fixedwing Navigation library.
  *
  * This collection of macros and functions is used by the C code generated
- * from the XML flight plan
+ * from the XML flight plan.
  */
 
 #ifndef NAV_H

sw/airborne/subsystems/navigation/bomb.c

@@ -17,6 +17,10 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/navigation/bomb.c
  *
  */
 

sw/airborne/subsystems/navigation/bomb.h

@@ -1,3 +1,29 @@
+/*
+ * Copyright (C) 2007-2009  ENAC, Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/navigation/bomb.h
+ *
+ */
+
 #ifndef BOMB_H
 #define BOMB_H
 
@@ -23,4 +49,4 @@ extern unit_t compute_baseleg( void );
 extern float baseleg_alt, downwind_altitude;
 extern const float baseleg_alt_tolerance;
 
-#endif
+#endif // BOMB_H

sw/airborne/subsystems/navigation/border_line.c

@@ -1,5 +1,6 @@
 /*
  * Copyright (C) 2012 Tobias Muench
+ * modified nav_linie by Anton Kochevar, ENAC
  *
  * This file is part of paparazzi.
  *
@@ -17,12 +18,8 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
-
-//modified nav_linie by Anton Kochevar, ENAC
-
 /**
  * @file subsystems/navigation/border_line.c
  * @brief navigate along a border line (line 1-2) with turns in the same direction
@@ -30,7 +27,7 @@
  * you can use this function to navigate along a border if it is essetial not to cross it
  * navigation is along line p1, p2 with turns in the same direction to make sure you dont cross the line
  * take care youre navigation radius is not to small in strong wind conditions!
-*/
+ */
 
 #include "subsystems/navigation/border_line.h"
 #include "generated/airframe.h"

sw/airborne/subsystems/navigation/border_line.h

@@ -17,7 +17,6 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
 /**
@@ -33,6 +32,4 @@
 extern bool_t border_line_init( void );
 extern bool_t border_line(uint8_t wp1, uint8_t wp2, float radius);
 
-#endif
+#endif /* BORDER_LINE_H */
-
-/* BORDER_LINE_H */

sw/airborne/subsystems/navigation/common_flight_plan.c

@@ -17,7 +17,11 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
+ */
+
+/**
+ * @file subsystems/navigation/common_flight_plan.c
+ * Common flight_plan functions shared between fixedwing and rotorcraft.
  */
 
 #include "subsystems/navigation/common_flight_plan.h"
@@ -34,7 +38,6 @@ uint8_t nav_stage, nav_block;
 uint8_t last_block, last_stage;
 
 
-
 void nav_init_block(void) {
   if (nav_block >= NB_BLOCK)
     nav_block=NB_BLOCK-1;

sw/airborne/subsystems/navigation/common_flight_plan.h

@@ -17,7 +17,11 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
+ */
+
+/**
+ * @file subsystems/navigation/common_flight_plan.c
+ * Common flight_plan functions shared between fixedwing and rotorcraft.
  */
 
 #ifndef COMMON_FLIGHT_PLAN_H

sw/airborne/subsystems/navigation/common_nav.c

@@ -17,6 +17,10 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/navigation/common_nav.c
  *
  */
 

sw/airborne/subsystems/navigation/common_nav.h

@@ -17,6 +17,10 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/navigation/common_nav.h
  *
  */
 

sw/airborne/subsystems/navigation/discsurvey.c

@@ -1,3 +1,29 @@
+/*
+ * Copyright (C) 2003-2005  Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/navigation/discsurvey.c
+ *
+ */
+
 #include "subsystems/navigation/discsurvey.h"
 
 #include "generated/airframe.h"

sw/airborne/subsystems/navigation/discsurvey.h

@@ -1,9 +1,35 @@
-#ifndef SURVEY_H
+/*
-#define SURVEY_H
+ * Copyright (C) 2003-2005  Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/navigation/discsurvey.h
+ *
+ */
+
+#ifndef DISCSURVEY_H
+#define DISCSURVEY_H
 
 #include "std.h"
 
 extern bool_t disc_survey_init( float grid );
 extern bool_t disc_survey(uint8_t c, float radius);
 
-#endif /* SURVEY_H */
+#endif /* DISCSURVEY_H */

sw/airborne/subsystems/navigation/flightzone.c

@@ -17,18 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
-/** \file  flightzone.c
+/**
- *  \brief check whether a point is inside the polygon limiting the
+ * @file  subsystems/navigation/flightzone.c
- *         competition area
- *
- * filename:        flightzone.c
- * project:         MAV 2007
- * description:     check whether a point is inside the polygon limiting
- *                  the competition area
  *
+ * Check whether a point is inside the polygon limiting the competition area.
  *
  * todo:            - support concave/convex polygons
  *                  - sort points automatically
@@ -48,7 +42,7 @@
 
 typedef struct { COORD_TYPE x;
   COORD_TYPE y;
-			   } POINT;
+} POINT;
 
 POINT Corner[] = {
   12, 18,
@@ -83,8 +77,7 @@ void vInitIsInsideBoundaries(void)
 
 #if 0
     printf("%d: corner (%f, %f), orthogonal (%f, %f)\n",
-		        i,
+           i, Corner[i].x, Corner[i].y,
-		        Corner[i].x, Corner[i].y,
            Orthogonal[i].x, Orthogonal[i].y);
 #endif
   }
@@ -107,13 +100,9 @@ int iIsInsideBoundaries(COORD_TYPE x, COORD_TYPE y)
 
   i = 0;
 
-   	while (    (i < bNumberOfCorners)
+  while ((i < bNumberOfCorners) && (r == 1))
-	        && (r == 1)
-		  )
   {
-		if (  (   (x - Corner[i].x) * Orthogonal[i].x
+    if (((x - Corner[i].x) * Orthogonal[i].x + (y - Corner[i].y) * Orthogonal[i].y) < 0.)
-		        + (y - Corner[i].y) * Orthogonal[i].y
-		      ) < 0. )
     {
       r = 0;
     }
@@ -123,5 +112,3 @@ int iIsInsideBoundaries(COORD_TYPE x, COORD_TYPE y)
 
   return r;
 }
-
-

sw/airborne/subsystems/navigation/flightzone.h

@@ -17,19 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
-/** \file flightzone.h
+/**
- *  \brief check whether a point is inside the polygon limiting the
+ * @file  subsystems/navigation/flightzone.c
- *         competition area
- *
- * filename:        flightzone.h
- * project:     	MAV 2007
- * description:     check whether a point is inside the polygon limiting
- *                  the competition area
- *
  *
+ * Check whether a point is inside the polygon limiting the competition area.
  *
  * author:          Arnold Schroeter
  * history:
@@ -37,7 +30,12 @@
  *
  */
 
+#ifndef FLIGHTZONE_H
+#define FLIGHTZONE_H
+
 #define COORD_TYPE float
 
 void vInitIsInsideBoundaries(void);
 int iIsInsideBoundaries(COORD_TYPE x, COORD_TYPE y);
+
+#endif /* FLIGHTZONE_H */

sw/airborne/subsystems/navigation/gls.c

@@ -18,7 +18,6 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
 /**
@@ -40,7 +39,7 @@
  * 1 - only efective with useairspeed flag
  * 2 - defauld is a approach angle of 5 degree which should be fine for most planes
  * 3 - distance between approach fix and top of decent
-*/
+ */
 
 
 
@@ -124,16 +123,13 @@ bool_t gls_init(uint8_t _af, uint8_t _tod, uint8_t _td) {
 
 bool_t gls(uint8_t _af, uint8_t _tod, uint8_t _td) {
 
-
   if (init){
-
 #if USE_AIRSPEED
     v_ctl_auto_airspeed_setpoint = target_speed;			// set target speed for approach
 #endif
     init = FALSE;
   }
 
-
   float final_x = WaypointX(_td) - WaypointX(_tod);
   float final_y = WaypointY(_td) - WaypointY(_tod);
   float final2 = Max(final_x * final_x + final_y * final_y, 1.);
@@ -151,27 +147,16 @@ bool_t gls(uint8_t _af, uint8_t _tod, uint8_t _td) {
   Bound(alt, WaypointAlt(_td), start_alt +(pre_climb/(-v_ctl_altitude_pgain))) // to prevent climbing before intercept
 
 
-
-
   if(nav_final_progress < -0.5) {			// for smooth intercept
-
     NavVerticalAltitudeMode(WaypointAlt(_tod), 0);	// vertical mode (fly straigt and intercept glideslope)
-
     NavVerticalAutoThrottleMode(0);		// throttle mode
-
     NavSegment(_af, _td);				// horizontal mode (stay on localiser)
   }
-
   else {
-
     NavVerticalAltitudeMode(alt, pre_climb);	// vertical mode (folow glideslope)
-
     NavVerticalAutoThrottleMode(0);		// throttle mode
-
     NavSegment(_af, _td);				// horizontal mode (stay on localiser)
   }
 
-
+  return TRUE;
-return TRUE;
-
 }	// end of gls()

sw/airborne/subsystems/navigation/gls.h

@@ -1,5 +1,4 @@
 /*
- *
  * Copyright (C) 2012, Tobias Muench
  *
  * This file is part of paparazzi.
@@ -18,7 +17,6 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
 /**
@@ -32,9 +30,7 @@
 #include "std.h"
 #include "paparazzi.h"
 
-
-
 extern bool_t gls_init(uint8_t _af, uint8_t _tod, uint8_t _td);
 extern bool_t gls(uint8_t _af, uint8_t _tod, uint8_t _td);
 
-#endif
+#endif // NAV_GLS_H

sw/airborne/subsystems/navigation/nav_cube.c

@@ -17,11 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
-/** \file nav_cube.c
+/**
- *  \brief Navigation in a cube towards a center
+ * @file subsystems/navigation/nav_cube.c
+ *
+ * Fixedwing Navigation in a cube towards a center.
  *
  */
 

sw/airborne/subsystems/navigation/nav_cube.h

@@ -17,6 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/navigation/nav_cube.h
+ *
+ * Fixedwing Navigation in a cube towards a center.
  *
  */
 
@@ -33,22 +39,22 @@ bool_t nav_cube(int8_t j, int8_t i,
                 uint8_t dest_b, uint8_t dest_e,
                 uint8_t src_b, uint8_t src_e);
 
-extern int32_t cube_alpha;     /* angle of flight direction to north, clockwise */
+extern int32_t cube_alpha;     ///< angle of flight direction to north, clockwise
-extern int32_t cube_size_x;    /* size of the cube x (perpendicular to flight dir) */
+extern int32_t cube_size_x;    ///< size of the cube x (perpendicular to flight dir)
-extern int32_t cube_size_y;    /* size of the cube y (in flight dir) */
+extern int32_t cube_size_y;    ///< size of the cube y (in flight dir)
-extern int32_t cube_size_z;    /* height of the cube z */
+extern int32_t cube_size_z;    ///< height of the cube z
-extern int32_t cube_grid_x;    /* grid distance x (horizontal) */
+extern int32_t cube_grid_x;    ///< grid distance x (horizontal)
-extern int32_t cube_grid_z;    /* grid distance z (vertical) */
+extern int32_t cube_grid_z;    ///< grid distance z (vertical)
-extern int32_t cube_offs_x;    /* offset to center x (horizontal) */
+extern int32_t cube_offs_x;    ///< offset to center x (horizontal)
-extern int32_t cube_offs_y;    /* offset to center y (in direction) */
+extern int32_t cube_offs_y;    ///< offset to center y (in direction)
-extern int32_t cube_offs_z;    /* offset to center z (vertical) */
+extern int32_t cube_offs_z;    ///< offset to center z (vertical)
 
-extern int32_t cube_sect;      /* sector to fly in (1..[nsect_x*nsect_z]) */
+extern int32_t cube_sect;      ///< sector to fly in (1..[nsect_x*nsect_z])
-extern int32_t cube_nsect_x;   /* number of sectors horizontal */
+extern int32_t cube_nsect_x;   ///< number of sectors horizontal
-extern int32_t cube_nsect_z;   /* number of sectors vertical */
+extern int32_t cube_nsect_z;   ///< number of sectors vertical
 
-extern int32_t cube_nline_x;   /* number of lines x (horizontal) */
+extern int32_t cube_nline_x;   ///< number of lines x (horizontal)
-extern int32_t cube_nline_z;   /* number of lines z (vertical) */
+extern int32_t cube_nline_z;   ///< number of lines z (vertical)
 
 #define nav_cube_SetAlpha(i) { cube_alpha=i; }
 #define nav_cube_SetSect(i)  { cube_sect=i; }

sw/airborne/subsystems/navigation/nav_line.c

@@ -17,12 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
-/** \file nav_line.c
+/**
- *  \brief Navigation along a line with nice U-turns
+ * @file subsystems/navigation/nav_line.c
  *
+ * Fixedwing navigation along a line with nice U-turns.
  */
 
 #include "generated/airframe.h"

sw/airborne/subsystems/navigation/nav_line.h

@@ -17,7 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/navigation/nav_line.h
  *
+ * Fixedwing navigation along a line with nice U-turns.
  */
 
 #ifndef NAV_LINE_H

sw/airborne/subsystems/navigation/nav_survey_rectangle.c

@@ -1,3 +1,32 @@
+/*
+ * Copyright (C) 2007-2009  ENAC, Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/navigation/nav_survey_rectangle.c
+ *
+ * Automatic survey of a rectangle for fixedwings.
+ *
+ * Rectangle is defined by two points, sweep can be south-north or west-east.
+ */
+
 #include "subsystems/navigation/nav_survey_rectangle.h"
 #include "state.h"
 

sw/airborne/subsystems/navigation/nav_survey_rectangle.h

@@ -1,4 +1,31 @@
-/** Automatic survey of a rectangle (defined by two points) (south-north or west-east sweep) */
+/*
+ * Copyright (C) 2007-2009  ENAC, Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/navigation/nav_survey_rectangle.c
+ *
+ * Automatic survey of a rectangle for fixedwings.
+ *
+ * Rectangle is defined by two points, sweep can be south-north or west-east.
+ */
 
 #ifndef NAV_SURVEY_RECTANGLE_H
 #define NAV_SURVEY_RECTANGLE_H
@@ -14,4 +41,4 @@ extern void nav_survey_rectangle(uint8_t wp1, uint8_t wp2);
 #define NavSurveyRectangle(_wp1, _wp2) nav_survey_rectangle(_wp1, _wp2)
 
 
-#endif
+#endif // NAV_SURVEY_RECTANGLE_H

sw/airborne/subsystems/navigation/poly_survey_adv.c

@@ -1,3 +1,31 @@
+/*
+ * Copyright (C) 2011  The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/navigation/poly_survey_adv.c
+ *
+ * Advanced polygon survey for fixedwings from Uni Stuttgart.
+ *
+ */
+
 #include "poly_survey_adv.h"
 
 #include "subsystems/nav.h"
@@ -10,9 +38,9 @@
 #endif
 
 
-/**
+/*
-The following variables are set by poly_survey_init and not changed later on
+  The following variables are set by poly_survey_init and not changed later on
-**/
+*/
 
 // precomputed vectors to ease calculations
 point2d dir_vec;
@@ -33,19 +61,19 @@ float psa_altitude;
 int segment_angle;
 int return_angle;
 
-/**
+/*
-The Following variables are dynamic, changed while navigating.
+   The Following variables are dynamic, changed while navigating.
-**/
+*/
 
 /*
-psa_stage starts at ENTRY and than circles trought the other
+  psa_stage starts at ENTRY and than circles trought the other
-states until to polygon is completely covered
+  states until to polygon is completely covered
-ENTRY : getting in the right position and height for the first flyover
+  ENTRY : getting in the right position and height for the first flyover
-SEG   : fly from seg_start to seg_end and take pictures,
+  SEG   : fly from seg_start to seg_end and take pictures,
   then calculate navigation points of next flyover
-TURN1 : do a 180° turn around seg_center1
+  TURN1 : do a 180° turn around seg_center1
-RET   : fly from ret_start to ret_end
+  RET   : fly from ret_start to ret_end
-TURN2 : do a 180° turn around seg_center2
+  TURN2 : do a 180° turn around seg_center2
 */
 survey_stage psa_stage;
 
@@ -76,13 +104,13 @@ static void nav_points(point2d start, point2d end)
 }
 
 /**
-   intercept two lines and give back the point of intersection
+ * intercept two lines and give back the point of intersection
-   returns        : FALSE if no intersection can be found or intersection does not lie between points a and b
+ * @return         FALSE if no intersection can be found or intersection does not lie between points a and b
-   else TRUE
+ * else TRUE
-   p              : returns intersection
+ * @param p               returns intersection
-   x, y           : first line is defined by point x and y (goes through this points)
+ * @param x, y            first line is defined by point x and y (goes through this points)
-   a1, a2, b1, b2 : second line by coordinates a1/a2, b1/b2
+ * @param a1, a2, b1, b2  second line by coordinates a1/a2, b1/b2
-**/
+ */
 static bool_t intercept_two_lines(point2d *p, point2d x, point2d y, float a1, float a2, float b1, float b2)
 {
   float divider, fac;
@@ -100,11 +128,11 @@ static bool_t intercept_two_lines(point2d *p, point2d x, point2d y, float a1, fl
 }
 
 /**
-   intersects a line with the polygon and gives back the two intersection points
+ *  intersects a line with the polygon and gives back the two intersection points
-   returns : TRUE if two intersection can be found, else FALSE
+ *  @return        TRUE if two intersection can be found, else FALSE
-   x, y    : intersection points
+ *  @param x, y     intersection points
-   a, b    : define the line to intersection
+ *  @param a, b     define the line to intersection
-**/
+ */
 static bool_t get_two_intersects(point2d *x, point2d *y, point2d a, point2d b)
 {
   int i, count = 0;
@@ -151,15 +179,15 @@ static bool_t get_two_intersects(point2d *x, point2d *y, point2d a, point2d b)
 }
 
 /**
-   initializes the variables needed for the survey to start
+ *  initializes the variables needed for the survey to start
-   first_wp    :  the first Waypoint of the polygon
+ *  @param first_wp      the first Waypoint of the polygon
-   size        :  the number of points that make up the polygon
+ *  @param size          the number of points that make up the polygon
-   angle       :  angle in which to do the flyovers
+ *  @param angle         angle in which to do the flyovers
-   sweep_width :  distance between the sweeps
+ *  @param sweep_width   distance between the sweeps
-   shot_dist   :  distance between the shots
+ *  @param shot_dist     distance between the shots
-   min_rad     :  minimal radius when navigating
+ *  @param min_rad       minimal radius when navigating
-   altitude    :  the altitude that must be reached before the flyover starts
+ *  @param altitude      the altitude that must be reached before the flyover starts
-**/
+ **/
 bool_t init_poly_survey_adv(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist, float min_rad, float altitude)
 {
   int i;
@@ -265,10 +293,10 @@ bool_t init_poly_survey_adv(uint8_t first_wp, uint8_t size, float angle, float s
 }
 
 /**
-   main navigation routine. This is called periodically evaluates the current
+ * main navigation routine. This is called periodically evaluates the current
-   Position and stage and navigates accordingly.
+ * Position and stage and navigates accordingly.
-   Returns True until the survey is finished
+ * Returns True until the survey is finished
-**/
+ */
 bool_t poly_survey_adv(void)
 {
   NavVerticalAutoThrottleMode(0.0);

sw/airborne/subsystems/navigation/poly_survey_adv.h

@@ -1,3 +1,31 @@
+/*
+ * Copyright (C) 2011  The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/navigation/poly_survey_adv.h
+ *
+ * Advanced polygon survey for fixedwings from Uni Stuttgart.
+ *
+ */
+
 #ifndef POLY_ADV_H
 #define POLY_ADV_H
 

sw/airborne/subsystems/navigation/snav.c

@@ -1,5 +1,30 @@
-/* Smooth navigation to wp_a along an arc (around wp_cd), a
+/*
-   segment (from wp_rd to wp_ta) and a second arc (around wp_ca) */
+ * Copyright (C) 2007-2009  ENAC, Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/navigation/snav.c
+ *
+ * Smooth navigation to wp_a along an arc (around wp_cd),
+ * a segment (from wp_rd to wp_ta) and a second arc (around wp_ca).
+ */
 
 #include <math.h>
 #include "generated/airframe.h"

sw/airborne/subsystems/navigation/snav.h

@@ -1,3 +1,31 @@
+/*
+ * Copyright (C) 2007-2009  ENAC, Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/navigation/snav.h
+ *
+ * Smooth navigation to wp_a along an arc (around wp_cd),
+ * a segment (from wp_rd to wp_ta) and a second arc (around wp_ca).
+ */
+
 #ifndef SNAV_H
 #define SNAV_H
 

sw/airborne/subsystems/navigation/spiral.c

@@ -1,10 +1,34 @@
-/************** Spiral Navigation **********************************************/
+/*
+ * Copyright (C) 2011  The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
 
-/** creating a  helix:
+/**
-	start radius to end radius, increasing after reaching alphamax
+ * @file subsystems/navigation/spiral.c
-	Alphamax is calculated from given segments
+ *
-	IMPORTANT: numer of segments has to be larger than 2!
+ * Fixedwing navigation in a spiral/helix from Uni Stuttgart.
-*/
+ *
+ * creating a helix:
+ * - start radius to end radius, increasing after reaching alphamax
+ * - Alphamax is calculated from given segments
+ * - IMPORTANT: numer of segments has to be larger than 2!
+ */
 
 #include "subsystems/navigation/spiral.h"
 

sw/airborne/subsystems/navigation/spiral.h

@@ -1,3 +1,31 @@
+/*
+ * Copyright (C) 2011  The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/navigation/spiral.h
+ *
+ * Fixedwing navigation in a spiral/helix from Uni Stuttgart.
+ *
+ */
+
 #ifndef SPIRAL_H
 #define SPIRAL_H
 
@@ -7,5 +35,5 @@ extern bool_t SpiralNav(void);
 extern bool_t InitializeSpiral(uint8_t CenterWP, uint8_t EdgeWP, float StartRad, float IncRad,
 				float Segments, float ZKoord );
 
-#endif
+#endif // SPIRAL_H
 

sw/airborne/subsystems/navigation/traffic_info.c

@@ -17,10 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
-/** \file traffic_info.c
+
- *  \brief Informations relative to the other aircrafts
+/**
+ * @file subsystems/naviation/traffic_info.c
+ *
+ * Information relative to the other aircrafts.
  *
  */
 

sw/airborne/subsystems/navigation/traffic_info.h

@@ -17,10 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
-/** \file traffic_info.h
+
- *  \brief Informations relative to the other aircrafts
+/**
+ * @file subsystems/navigation/traffic_info.h
+ *
+ * Information relative to the other aircrafts.
  *
  */
 
@@ -61,7 +63,7 @@ extern struct ac_info_ the_acs[NB_ACS];
       the_acs[the_acs_id[_id]].climb = _climb;                          \
       the_acs[the_acs_id[_id]].itow = (uint32_t)_itow;                  \
     }                                                                   \
-}
+                  }
 
 extern void traffic_info_init( void );