Added Comments in almost each file of the project for more

clarity

PILOT/cli.cpp

@@ -1,8 +1,12 @@
-#include <string.h>
-#include <string>
-#include <stdio.h>
-#include <stdlib.h>
 
+/*
+ *          cli.cpp
+ *      created 01-2014
+ *   author : Vincent Jaunet
+ *
+ * Makes possible to give PID constant values
+ * through command line options
+ */
 #include "cli.h"
 
 CLI cli;

PILOT/cli.h

@@ -3,6 +3,9 @@
 
 #include <string.h>
 #include <string>
+#include <stdio.h>
+#include <stdlib.h>
+
 
 class CLI {
 

PILOT/dmp.cpp

@@ -1,3 +1,20 @@
+/*
+
+  DMP class
+  author : vincent jaunet
+  date : 10-01-2013
+
+  Description :
+  The DMP class is mainly a wrapper to the MPU6050
+  one from github/PiBits and Jeff Rowberg <[email protected]>
+
+  It defines the main functions to :
+  -set up the I2C communication through I2Cdev
+  -Initialize the measurements and retrieve Offset values
+  -Get the attitude of the drone
+
+*/
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
@@ -80,6 +97,10 @@ void DMP::set_com() {
 }
 
 void DMP::initialize(){
+
+  //This routine waits for the yaw angle to stop
+  //drifting
+
   if (!dmpReady) return;
 
   printf("Initializing IMU...\n");

PILOT/net.cpp

@@ -1,3 +1,19 @@
+/*
+
+  Socekt class
+  author : vincent jaunet
+  date : 10-01-2013
+
+  Description :
+  The Socket class contains all the necessary routine to set
+  up and use a UDP network serve on the drone waiting for
+  the remote client to send request.
+  The output should be parsed in order to retrieve
+  the desired attitude from the remote (see parse.*)
+
+*/
+
+
 #include "net.h"
 
 Socket remote;

PILOT/pid.cpp

@@ -3,8 +3,16 @@
    PID Controller
 
    author : vincent JAUNET
-   mail : [email protected]
-
+   mail : [email protected]
+   date : 10-01-2013
+
+   Description:
+   the PID class is a collection of routine necessary
+   to perform a PID control based on setpoints (remote control),
+   inputs (measured attitude).
+   Can be used for any type of system and features :
+   - Derivative on measurement
+   - Windsup of integral errors
 
 */
 

PILOT/servo.cpp

@@ -1,6 +1,26 @@
-#include <iostream>
-#include <stdlib.h>
-#include <fstream>
+/*
+
+   Servo Class
+
+   author : vincent JAUNET
+   mail : [email protected]
+   date : 10-01-2013
+
+   Description:
+   the Servo class is a collection of routine used to control
+   the motors through the electronic speed controllers.
+   ESC and Servo use the same communication protocole: PWM. That is
+   the reason why the servoblaster module is being used here. This allows
+   to get rid of an external PIC controller to generate such PWM signal.
+
+   The routines in the Serco class do the follwing:
+   - open the /dev/servoblaster file in order to write in it
+   - initlaize the ESC by sending a PWM of 1ms (~ throttle = 0)
+   - write the desired PWM values
+
+*/
+
+
 #include "servo.h"
 
 Servo ESC;

PILOT/servo.h

@@ -1,6 +1,9 @@
 #ifndef SERVOS
 #define SERVOS
 
+#include <iostream>
+#include <fstream>
+#include <stdlib.h>
 #include <stdio.h>
 
 class Servo {

PILOT/timer.cpp

@@ -142,7 +142,6 @@ void TimerClass::sig_handler_(int signum)
 
   //Timer dt
   Timer.calcdt_();
-  printf("%f \n",Timer.dt);
 
   // PID on attitude
   float PIDout[3];

README.md

@@ -13,18 +13,18 @@ The quadcopter is remotely controlled via wifi and an Android App.
 
 
 The Raspberry PI hosts:
-- PID controller 
+- PID controller
 - ESC signal generator (ServoBlaster)
 - UDP server to get command from an android device
 - Communication with the MPU6050 through I2C.
 
-The repository has several folders, that I initially made to code and test 
-the different functions of the controller. The entire controller is in the 
+The repository has several folders, that I initially made to code and test
+the different functions of the controller. The entire controller is in the
 PILOT folder.
 
 This project is greatly inspired and using source code from :
-- https://github.com/richardghirst/PiBits 
-for ServoBlaster and the MPU6050 usage
+- https://github.com/richardghirst/PiBits
+for ServoBlaster that I use to control the ESCs and the MPU6050 Digital motion processing.
 
 - https://github.com/big5824/Picopter
 for the Timing and the code structure
@@ -38,7 +38,7 @@ Many thanks to these people.
 Hardware
 --------
 
-This projects includes :  
+This projects includes :
 - 4 brushless motors (TURNIGY 2204-14T 19g Outrunner)
 - 4 Electronic Speed Controllers (Turnigy Multistar 10 Amp)
 - 1 LiPo 3s 3700 mAh battery
@@ -50,21 +50,21 @@ Wiring
 ------
 
 MPU6050 :
-VDD -> 3.3V
-GND -> GND
-SDA -> SDA
-SCL -> SCL
-VIO -> 3.3V 
+-VDD -> 3.3V
+-GND -> GND
+-SDA -> SDA
+-SCL -> SCL
+-VIO -> 3.3V
 
 
 ESCs:
-GND -> GND
-Signal Servo 0 -> pin 4
-Signal Servo 1 -> pin 23
-Signal Servo 2 -> pin 24
-Signal Servo 3 -> pin 25
+-GND -> GND
+-Signal Servo 0 -> pin 4
+-Signal Servo 1 -> pin 23
+-Signal Servo 2 -> pin 24
+-Signal Servo 3 -> pin 25
 
-Note that the use of this code requires some modofication of the Servoblaster configuration.
+Note that the use of this code requires some modifications of the Servoblaster configuration.
 
 
 

SERVOS/servo.cpp

@@ -34,7 +34,7 @@ void Servo::init(Servo servo)
 
   servo.set(servoval);
 
-  sleep(5);
+  sleep(2);
 }
 
 void Servo::set(int* ServoPosition)