diff --git a/src/modules/src/attitude_pid_controller.c b/src/modules/src/attitude_pid_controller.c index 1beab17fac..b88001e842 100644 --- a/src/modules/src/attitude_pid_controller.c +++ b/src/modules/src/attitude_pid_controller.c @@ -167,7 +167,7 @@ void attitudeControllerGetActuatorOutput(int16_t* roll, int16_t* pitch, int16_t* */ LOG_GROUP_START(pid_attitude) /** - * @brief Propertional output roll + * @brief Proportional output roll */ LOG_ADD(LOG_FLOAT, roll_outP, &pidRoll.outP) /** @@ -179,11 +179,11 @@ LOG_ADD(LOG_FLOAT, roll_outI, &pidRoll.outI) */ LOG_ADD(LOG_FLOAT, roll_outD, &pidRoll.outD) /** - * @brief Propertional output pitch + * @brief Proportional output pitch */ LOG_ADD(LOG_FLOAT, pitch_outP, &pidPitch.outP) /** - * @brief Intergral output pitch + * @brief Integral output pitch */ LOG_ADD(LOG_FLOAT, pitch_outI, &pidPitch.outI) /** @@ -191,7 +191,7 @@ LOG_ADD(LOG_FLOAT, pitch_outI, &pidPitch.outI) */ LOG_ADD(LOG_FLOAT, pitch_outD, &pidPitch.outD) /** - * @brief Propertional output yaw + * @brief Proportional output yaw */ LOG_ADD(LOG_FLOAT, yaw_outP, &pidYaw.outP) /** @@ -209,11 +209,11 @@ LOG_GROUP_STOP(pid_attitude) */ LOG_GROUP_START(pid_rate) /** - * @brief Propertional output roll rate + * @brief Proportional output roll rate */ LOG_ADD(LOG_FLOAT, roll_outP, &pidRollRate.outP) /** - * @brief Intergral output roll rate + * @brief Integral output roll rate */ LOG_ADD(LOG_FLOAT, roll_outI, &pidRollRate.outI) /** @@ -221,11 +221,11 @@ LOG_ADD(LOG_FLOAT, roll_outI, &pidRollRate.outI) */ LOG_ADD(LOG_FLOAT, roll_outD, &pidRollRate.outD) /** - * @brief Propertional output pitch rate + * @brief Proportional output pitch rate */ LOG_ADD(LOG_FLOAT, pitch_outP, &pidPitchRate.outP) /** - * @brief Intergral output pitch rate + * @brief Integral output pitch rate */ LOG_ADD(LOG_FLOAT, pitch_outI, &pidPitchRate.outI) /** @@ -233,11 +233,11 @@ LOG_ADD(LOG_FLOAT, pitch_outI, &pidPitchRate.outI) */ LOG_ADD(LOG_FLOAT, pitch_outD, &pidPitchRate.outD) /** - * @brief Propertional output yaw rate + * @brief Proportional output yaw rate */ LOG_ADD(LOG_FLOAT, yaw_outP, &pidYawRate.outP) /** - * @brief Intergral output yaw rate + * @brief Integral output yaw rate */ LOG_ADD(LOG_FLOAT, yaw_outI, &pidYawRate.outI) /** @@ -253,11 +253,11 @@ LOG_GROUP_STOP(pid_rate) */ PARAM_GROUP_START(pid_attitude) /** - * @brief Propertional gain for the PID roll controller + * @brief Proportional gain for the PID roll controller */ PARAM_ADD(PARAM_FLOAT, roll_kp, &pidRoll.kp) /** - * @brief Intergral gain for the PID roll controller + * @brief Integral gain for the PID roll controller */ PARAM_ADD(PARAM_FLOAT, roll_ki, &pidRoll.ki) /** @@ -265,11 +265,11 @@ PARAM_ADD(PARAM_FLOAT, roll_ki, &pidRoll.ki) */ PARAM_ADD(PARAM_FLOAT, roll_kd, &pidRoll.kd) /** - * @brief Propertional gain for the PID pitch controller + * @brief Proportional gain for the PID pitch controller */ PARAM_ADD(PARAM_FLOAT, pitch_kp, &pidPitch.kp) /** - * @brief Intergral gain for the PID pitch controller + * @brief Integral gain for the PID pitch controller */ PARAM_ADD(PARAM_FLOAT, pitch_ki, &pidPitch.ki) /** @@ -277,11 +277,11 @@ PARAM_ADD(PARAM_FLOAT, pitch_ki, &pidPitch.ki) */ PARAM_ADD(PARAM_FLOAT, pitch_kd, &pidPitch.kd) /** - * @brief Propertional gain for the PID yaw controller + * @brief Proportional gain for the PID yaw controller */ PARAM_ADD(PARAM_FLOAT, yaw_kp, &pidYaw.kp) /** - * @brief Intergral gain for the PID yaw controller + * @brief Integral gain for the PID yaw controller */ PARAM_ADD(PARAM_FLOAT, yaw_ki, &pidYaw.ki) /** @@ -291,17 +291,16 @@ PARAM_ADD(PARAM_FLOAT, yaw_kd, &pidYaw.kd) PARAM_GROUP_STOP(pid_attitude) /** - * Tuning settings for the gains of the PID - * controller for the rate angels of the Crazyflie which consists - * of the Yaw Pitch and Roll rates + * Tuning settings for the gains of the PID controller for the rate angles of + * the Crazyflie, which consists of the yaw, pitch and roll rates */ PARAM_GROUP_START(pid_rate) /** - * @brief Propertional gain for the PID roll rate controller + * @brief Proportional gain for the PID roll rate controller */ PARAM_ADD(PARAM_FLOAT, roll_kp, &pidRollRate.kp) /** - * @brief Intergral gain for the PID roll rate controller + * @brief Integral gain for the PID roll rate controller */ PARAM_ADD(PARAM_FLOAT, roll_ki, &pidRollRate.ki) /** @@ -309,11 +308,11 @@ PARAM_ADD(PARAM_FLOAT, roll_ki, &pidRollRate.ki) */ PARAM_ADD(PARAM_FLOAT, roll_kd, &pidRollRate.kd) /** - * @brief Propertional gain for the PID pitch rate controller + * @brief Proportional gain for the PID pitch rate controller */ PARAM_ADD(PARAM_FLOAT, pitch_kp, &pidPitchRate.kp) /** - * @brief Intergral gain for the PID pitch rate controller + * @brief Integral gain for the PID pitch rate controller */ PARAM_ADD(PARAM_FLOAT, pitch_ki, &pidPitchRate.ki) /** @@ -321,11 +320,11 @@ PARAM_ADD(PARAM_FLOAT, pitch_ki, &pidPitchRate.ki) */ PARAM_ADD(PARAM_FLOAT, pitch_kd, &pidPitchRate.kd) /** - * @brief Propertional gain for the PID yaw rate controller + * @brief Proportional gain for the PID yaw rate controller */ PARAM_ADD(PARAM_FLOAT, yaw_kp, &pidYawRate.kp) /** - * @brief Intergral gain for the PID yaw rate controller + * @brief Integral gain for the PID yaw rate controller */ PARAM_ADD(PARAM_FLOAT, yaw_ki, &pidYawRate.ki) /** diff --git a/src/modules/src/controller_indi.c b/src/modules/src/controller_indi.c index acd94fc71b..847df3e801 100644 --- a/src/modules/src/controller_indi.c +++ b/src/modules/src/controller_indi.c @@ -370,15 +370,15 @@ PARAM_ADD(PARAM_FLOAT, thrust_threshold, &thrust_threshold) */ PARAM_ADD(PARAM_FLOAT, bound_ctrl_input, &bound_control_input) /** - * @brief INDI Attitude Roll control Propertional Gain + * @brief INDI Attitude Roll control proportional gain */ PARAM_ADD(PARAM_FLOAT, roll_kp, &roll_kp) /** - * @brief INDI Attitude Pitch control Propertional Gain + * @brief INDI Attitude Pitch control proportional gain */ PARAM_ADD(PARAM_FLOAT, pitch_kp, &pitch_kp) /** - * @brief INDI Attitude Yaw control Propertional Gain + * @brief INDI Attitude Yaw control proportional gain */ PARAM_ADD(PARAM_FLOAT, yaw_kp, &yaw_kp) /** diff --git a/src/modules/src/position_controller_indi.c b/src/modules/src/position_controller_indi.c index 012ca6549d..1f9d01fbf0 100644 --- a/src/modules/src/position_controller_indi.c +++ b/src/modules/src/position_controller_indi.c @@ -279,28 +279,28 @@ void positionControllerINDI(const sensorData_t *sensors, PARAM_GROUP_START(posCtrlIndi) /** - * @brief INDI position controller X propertional gain + * @brief INDI position controller X proportional gain */ PARAM_ADD(PARAM_FLOAT, K_xi_x, &K_xi_x) /** - * @brief INDI position controller Y propertional gain + * @brief INDI position controller Y proportional gain */ PARAM_ADD(PARAM_FLOAT, K_xi_y, &K_xi_y) /** - * @brief INDI position controller Z propertional gain + * @brief INDI position controller Z proportional gain */ PARAM_ADD(PARAM_FLOAT, K_xi_z, &K_xi_z) /** - * @brief INDI velocity controller X propertional gain + * @brief INDI velocity controller X proportional gain */ PARAM_ADD(PARAM_FLOAT, K_dxi_x, &K_dxi_x) /** - * @brief INDI velocity controller Y propertional gain + * @brief INDI velocity controller Y proportional gain */ PARAM_ADD(PARAM_FLOAT, K_dxi_y, &K_dxi_y) /** - * @brief INDI velocity controller Z propertional gain + * @brief INDI velocity controller Z proportional gain */ PARAM_ADD(PARAM_FLOAT, K_dxi_z, &K_dxi_z) diff --git a/src/modules/src/position_controller_pid.c b/src/modules/src/position_controller_pid.c index c19ff53cf2..5cdff44724 100644 --- a/src/modules/src/position_controller_pid.c +++ b/src/modules/src/position_controller_pid.c @@ -271,11 +271,11 @@ LOG_ADD(LOG_FLOAT, targetY, &this.pidY.pid.desired) LOG_ADD(LOG_FLOAT, targetZ, &this.pidZ.pid.desired) /** - * @brief PID propertional output position x + * @brief PID proportional output position x */ LOG_ADD(LOG_FLOAT, Xp, &this.pidX.pid.outP) /** - * @brief PID Intergral output position x + * @brief PID Integral output position x */ LOG_ADD(LOG_FLOAT, Xi, &this.pidX.pid.outI) /** @@ -284,11 +284,11 @@ LOG_ADD(LOG_FLOAT, Xi, &this.pidX.pid.outI) LOG_ADD(LOG_FLOAT, Xd, &this.pidX.pid.outD) /** - * @brief PID propertional output position y + * @brief PID proportional output position y */ LOG_ADD(LOG_FLOAT, Yp, &this.pidY.pid.outP) /** - * @brief PID Intergral output position y + * @brief PID Integral output position y */ LOG_ADD(LOG_FLOAT, Yi, &this.pidY.pid.outI) /** @@ -297,11 +297,11 @@ LOG_ADD(LOG_FLOAT, Yi, &this.pidY.pid.outI) LOG_ADD(LOG_FLOAT, Yd, &this.pidY.pid.outD) /** - * @brief PID propertional output position z + * @brief PID proportional output position z */ LOG_ADD(LOG_FLOAT, Zp, &this.pidZ.pid.outP) /** - * @brief PID Intergral output position z + * @brief PID Integral output position z */ LOG_ADD(LOG_FLOAT, Zi, &this.pidZ.pid.outI) /** @@ -310,11 +310,11 @@ LOG_ADD(LOG_FLOAT, Zi, &this.pidZ.pid.outI) LOG_ADD(LOG_FLOAT, Zd, &this.pidZ.pid.outD) /** - * @brief PID propertional output velocity x + * @brief PID proportional output velocity x */ LOG_ADD(LOG_FLOAT, VXp, &this.pidVX.pid.outP) /** - * @brief PID intergral output velocity x + * @brief PID integral output velocity x */ LOG_ADD(LOG_FLOAT, VXi, &this.pidVX.pid.outI) /** @@ -323,11 +323,11 @@ LOG_ADD(LOG_FLOAT, VXi, &this.pidVX.pid.outI) LOG_ADD(LOG_FLOAT, VXd, &this.pidVX.pid.outD) /** - * @brief PID propertional output velocity z + * @brief PID proportional output velocity z */ LOG_ADD(LOG_FLOAT, VZp, &this.pidVZ.pid.outP) /** - * @brief PID intergral output velocity z + * @brief PID integral output velocity z */ LOG_ADD(LOG_FLOAT, VZi, &this.pidVZ.pid.outI) /** @@ -345,11 +345,11 @@ LOG_GROUP_STOP(posCtl) */ PARAM_GROUP_START(velCtlPid) /** - * @brief Propertional gain for the velocity PID in the body X direction + * @brief Proportional gain for the velocity PID in the body X direction */ PARAM_ADD(PARAM_FLOAT, vxKp, &this.pidVX.pid.kp) /** - * @brief Intergral gain for the velocity PID in the body X direction + * @brief Integral gain for the velocity PID in the body X direction */ PARAM_ADD(PARAM_FLOAT, vxKi, &this.pidVX.pid.ki) /** @@ -358,11 +358,11 @@ PARAM_ADD(PARAM_FLOAT, vxKi, &this.pidVX.pid.ki) PARAM_ADD(PARAM_FLOAT, vxKd, &this.pidVX.pid.kd) /** - * @brief Propertional gain for the velocity PID in the body Y direction + * @brief Proportional gain for the velocity PID in the body Y direction */ PARAM_ADD(PARAM_FLOAT, vyKp, &this.pidVY.pid.kp) /** - * @brief Intergral gain for the velocity PID in the body Y direction + * @brief Integral gain for the velocity PID in the body Y direction */ PARAM_ADD(PARAM_FLOAT, vyKi, &this.pidVY.pid.ki) /** @@ -371,11 +371,11 @@ PARAM_ADD(PARAM_FLOAT, vyKi, &this.pidVY.pid.ki) PARAM_ADD(PARAM_FLOAT, vyKd, &this.pidVY.pid.kd) /** - * @brief Propertional gain for the velocity PID in the body Z direction + * @brief Proportional gain for the velocity PID in the body Z direction */ PARAM_ADD(PARAM_FLOAT, vzKp, &this.pidVZ.pid.kp) /** - * @brief Intergral gain for the velocity PID in the body Z direction + * @brief Integral gain for the velocity PID in the body Z direction */ PARAM_ADD(PARAM_FLOAT, vzKi, &this.pidVZ.pid.ki) /** @@ -393,11 +393,11 @@ PARAM_GROUP_STOP(velCtlPid) */ PARAM_GROUP_START(posCtlPid) /** - * @brief Propertional gain for the position PID in the global X direction + * @brief Proportional gain for the position PID in the global X direction */ PARAM_ADD(PARAM_FLOAT, xKp, &this.pidX.pid.kp) /** - * @brief Propertional gain for the position PID in the global X direction + * @brief Proportional gain for the position PID in the global X direction */ PARAM_ADD(PARAM_FLOAT, xKi, &this.pidX.pid.ki) /** @@ -406,11 +406,11 @@ PARAM_ADD(PARAM_FLOAT, xKi, &this.pidX.pid.ki) PARAM_ADD(PARAM_FLOAT, xKd, &this.pidX.pid.kd) /** - * @brief Propertional gain for the position PID in the global Y direction + * @brief Proportional gain for the position PID in the global Y direction */ PARAM_ADD(PARAM_FLOAT, yKp, &this.pidY.pid.kp) /** - * @brief Intergral gain for the position PID in the global Y direction + * @brief Integral gain for the position PID in the global Y direction */ PARAM_ADD(PARAM_FLOAT, yKi, &this.pidY.pid.ki) /** @@ -419,11 +419,11 @@ PARAM_ADD(PARAM_FLOAT, yKi, &this.pidY.pid.ki) PARAM_ADD(PARAM_FLOAT, yKd, &this.pidY.pid.kd) /** - * @brief Propertional gain for the position PID in the global Z direction + * @brief Proportional gain for the position PID in the global Z direction */ PARAM_ADD(PARAM_FLOAT, zKp, &this.pidZ.pid.kp) /** - * @brief Intergral gain for the position PID in the global Z direction + * @brief Integral gain for the position PID in the global Z direction */ PARAM_ADD(PARAM_FLOAT, zKi, &this.pidZ.pid.ki) /** diff --git a/src/modules/src/stabilizer.c b/src/modules/src/stabilizer.c index 1b5642cf8e..060da59fd3 100644 --- a/src/modules/src/stabilizer.c +++ b/src/modules/src/stabilizer.c @@ -327,7 +327,7 @@ PARAM_ADD_CORE(PARAM_UINT8, estimator, &estimatorType) */ PARAM_ADD_CORE(PARAM_UINT8, controller, &controllerType) /** - * @brief If set to nonzero will turn of power + * @brief If set to nonzero will turn off power */ PARAM_ADD_CORE(PARAM_UINT8, stop, &emergencyStop) PARAM_GROUP_STOP(stabilizer) diff --git a/src/modules/src/supervisor.c b/src/modules/src/supervisor.c index fe07825ca9..03043890eb 100644 --- a/src/modules/src/supervisor.c +++ b/src/modules/src/supervisor.c @@ -133,11 +133,11 @@ LOG_GROUP_START(sys) */ LOG_ADD_CORE(LOG_UINT8, canfly, &canFly) /** - * @brief Nonzero if the system think it is flying + * @brief Nonzero if the system thinks it is flying */ LOG_ADD_CORE(LOG_UINT8, isFlying, &isFlying) /** - * @brief Nonzero if the system think it is tumbled/crashed + * @brief Nonzero if the system thinks it is tumbled/crashed */ LOG_ADD_CORE(LOG_UINT8, isTumbled, &isTumbled) LOG_GROUP_STOP(sys)