Headers cleanups

flix/flix.ino

@@ -1,6 +1,8 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
+// Main firmware file
+
 #include "vector.h"
 #include "quaternion.h"
 

flix/imu.ino

@@ -1,6 +1,8 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
+// Work with the IMU sensor
+
 #include <SPI.h>
 #include <MPU9250.h>
 

flix/led.ino

@@ -1,6 +1,8 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
+// Main LED control
+
 #define BLINK_PERIOD 500000
 
 void setupLED()

flix/mavlink.ino

@@ -1,6 +1,8 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
+// MAVLink communication
+
 #if WIFI_ENABLED == 1
 
 #include "mavlink/common/mavlink.h"

flix/motors.ino

@@ -1,7 +1,7 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
-// Motors output
+// Motors output control
 // Motor: 8520 3.7V
 // ESC: KINGDUO Micro Mini 4A 1S Brushed Esc 3.6-6V
 

flix/rc.ino

@@ -1,6 +1,8 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
+// Work with the RC receiver
+
 #include <SBUS.h>
 
 const uint16_t channelNeutral[] = {995, 883, 200, 972, 512, 512};

flix/time.ino

@@ -1,6 +1,8 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
+// Time related functions
+
 void step()
 {
 	float now = micros() / 1000000.0;

flix/util.ino

@@ -1,6 +1,8 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
+// Utility functions
+
 #include "math.h"
 
 float mapf(long x, long in_min, long in_max, float out_min, float out_max)

flix/wifi.ino

@@ -1,9 +1,7 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
-// https://github.com/espressif/arduino-esp32/blob/master/libraries/WiFi/examples/WiFiAccessPoint/WiFiAccessPoint.ino
+// Wi-Fi support
-// https://github.com/espressif/arduino-esp32/blob/master/libraries/WiFi/examples/WiFiClient/WiFiClient.ino
-// https://github.com/espressif/arduino-esp32/blob/master/libraries/WiFi/examples/WiFiUDPClient/WiFiUDPClient.ino
 
 #if WIFI_ENABLED == 1
 
@@ -15,9 +13,7 @@
 
 #define WIFI_SSID "flix"
 #define WIFI_PASSWORD "flixwifi"
-// #define WIFI_UDP_IP "192.168.4.255"
 #define WIFI_UDP_IP "255.255.255.255"
-// #define WIFI_UDP_IP "192.168.4.2"
 #define WIFI_UDP_PORT 14550
 
 WiFiUDP udp;

gazebo/flix.cpp

@@ -1,24 +1,7 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
-// https://classic.gazebosim.org/tutorials?tut=plugins_model&cat=write_plugin
+// Gazebo plugin for running Arduino code and simulating the drone
-// https://classic.gazebosim.org/tutorials?tut=set_velocity&cat=
-// https://github.com/gazebosim/gazebo-classic/blob/gazebo11/plugins/ArduCopterPlugin.cc
-// https://github.com/gazebosim/gazebo-classic/blob/gazebo11/plugins/ArduCopterPlugin.cc#L510 - motor
-// https://classic.gazebosim.org/tutorials?tut=gui_overlay&cat=user_input
-// https://github.com/gazebosim/gazebo-classic/blob/gazebo9/examples/plugins/gui_overlay_plugin_time/GUIExampleTimeWidget.cc
-// https://github.com/yujinrobot/kobuki_desktop/blob/ea5b7283d92f61efbd1a2185b46e1ad344e7e81a/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_loads.cpp#L29
-// https://github.com/osrf/swarm/blob/1a2e4040b12b686ed7a13e32301d538b1c7d0b1d/src/RobotPlugin.cc#L936
-
-// motors thrust: https://www.youtube.com/watch?v=VtKI4Pjx8Sk
-
-// https://github.com/gazebosim/gazebo-classic/tree/master/examples/plugins
-
-// publish to topics https://github.com/wuwushrek/sim_cf/blob/df68af275c9f753d9bf1b0494a4e513d9f4c9a7c/crazyflie_gazebo/src/gazebo_lps_plugin.cpp#L104
-// https://github.com/bitcraze/crazyflie-simulation
-
-// GUI overlay:
-// https://github.com/gazebosim/gazebo-classic/blob/gazebo9/examples/plugins/gui_overlay_plugin_time/GUIExampleTimeWidget.cc
 
 #include <functional>
 #include <cmath>

gazebo/joystick.h

@@ -1,6 +1,8 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
+// Joystick support for simulation
+
 #include <SDL2/SDL.h>
 #include <gazebo/gazebo.hh>
 #include <iostream>