From 59976d55d5cb99874d09c108fb5df82c1ac8aa69 Mon Sep 17 00:00:00 2001
From: jkerpe <juliane-98@web.de>
Date: Mon, 23 Oct 2023 14:55:56 +0200
Subject: [PATCH] Updated some comments

---
 lib/HALTarget/IMU.h      | 20 ++++++++------------
 lib/HALTest/Board.h      |  2 +-
 lib/HALTest/IMU.h        | 19 ++++++++-----------
 lib/SensorFusion/App.cpp |  6 +++---
 4 files changed, 20 insertions(+), 27 deletions(-)

diff --git a/lib/HALTarget/IMU.h b/lib/HALTarget/IMU.h
index 481cc4c0..4baa334b 100644
--- 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
index 493c4a2c..9e3cf759 100644
--- 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
index f7d91d69..f80be51b 100644
--- 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
index aadc6cf4..5923f6f5 100644
--- 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));
 }