Updated some comments

BlueAndi · Oct 23, 2023 · 59976d5 · 59976d5
1 parent 3c4789a
commit 59976d5
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Showing 4 changed files with 20 additions and 27 deletions.
diff --git a/lib/HALTarget/IMU.h b/lib/HALTarget/IMU.h
@@ -92,29 +92,25 @@ class IMU : public IIMU
      */
     void calibrate() final;
 
-
     /**
-     * Get last Accelerometer values.
+     * Get last Accelerometer values in mm/s/s.
      *
-     * @return Accelerometer values
-     */ 
-    //
+     * @return Accelerometer values [acceleration_x, acceleration_y]
+     */
     const int16_t* getAccelerationValues() final;
 
     /**
-     * Get last Gyro values.
+     * Get last Gyroscope values in mrad per second.
      *
-     * @return Gyro values
-     */ 
-    //
+     * @return Gyroscope values
+     */
     const int16_t getTurnRate() final;
 
     /**
-     * Get last Magnetometer values.
+     * Get last Magnetometer values in mrad.
      *
      * @return Magnetometer values
-     */ 
-    //
+     */
     const int16_t getMagnetometerAngle() final;
 
     /**

diff --git a/lib/HALTest/Board.h b/lib/HALTest/Board.h
@@ -251,7 +251,7 @@ class Board : public IBoard
     /** Red LED driver */
     LedGreen m_ledGreen;
 
-    /** Proximity sensors */
+    /** IMU driver */
     IMU m_imu;
 
     /**

diff --git a/lib/HALTest/IMU.h b/lib/HALTest/IMU.h
@@ -77,33 +77,30 @@ class IMU : public IIMU
     }
 
     /**
-     * Get last Accelerometer values.
+     * Get last Accelerometer values in mm/s/s.
      *
-     * @return Accelerometer values
-     */ 
-    //
+     * @return Accelerometer values [acceleration_x, acceleration_y]
+     */
     const int16_t* getAccelerationValues() final
     {
         return m_accelerationValues;
     }
 
     /**
-     * Get last Gyro values.
+     * Get last Gyroscope values in mrad per second.
      *
-     * @return Gyro values
-     */ 
-    //
+     * @return Gyroscope values
+     */
     const int16_t getTurnRate() final
     {
         return 0;
     }
 
     /**
-     * Get last Magnetometer values.
+     * Get last Magnetometer values in mrad.
      *
      * @return Magnetometer values
-     */ 
-    //
+     */
     const int16_t getMagnetometerAngle() final
     {
         return 0;

diff --git a/lib/SensorFusion/App.cpp b/lib/SensorFusion/App.cpp
@@ -151,9 +151,9 @@ void App::sendSensorData() const
     Util::int16ToByteArray(&payload[1 * sizeof(int16_t)], sizeof(int16_t), accelerationValues[1]);
     Util::int16ToByteArray(&payload[2 * sizeof(int16_t)], sizeof(int16_t), turnRate);
     Util::int16ToByteArray(&payload[3 * sizeof(int16_t)], sizeof(int16_t), orientationMagnetometer);
-    Util::int16ToByteArray(&payload[4 * sizeof(int16_t)], sizeof(int16_t), orientationOdometry);
-    Util::int16ToByteArray(&payload[5 * sizeof(int16_t)], sizeof(int16_t), positionXOdometry);
-    Util::int16ToByteArray(&payload[6 * sizeof(int16_t)], sizeof(int16_t), positionYOdometry);
+    Util::int16ToByteArray(&payload[4 * sizeof(int16_t)], sizeof(int16_t), orientationOdometryInt16);
+    Util::int16ToByteArray(&payload[5 * sizeof(int16_t)], sizeof(int16_t), positionXOdometryInt16);
+    Util::int16ToByteArray(&payload[6 * sizeof(int16_t)], sizeof(int16_t), positionYOdometryInt16);
 
     (void)m_smpServer.sendData(m_smpChannelIdSensorData, payload, sizeof(payload));
 }