AC_AutoTune: adding comments to FreqResp Library

libraries/AC_AutoTune/AC_AutoTune_FreqResp.cpp

@@ -13,6 +13,7 @@ float AC_AutoTune_FreqResp::update()
     return dummy;
 }
 
+// Initialize the Frequency Response methods. Must be called before running dwell or frequency sweep tests
 void AC_AutoTune_FreqResp::init(InputType input_type)
 {
     excitation = input_type;
@@ -36,9 +37,12 @@ void AC_AutoTune_FreqResp::init(InputType input_type)
     cycle_complete = false;
 }
 
-// determine_gain - this function receives time history data during a dwell test input and determines the gain and phase of the response to the input.
-// Once the designated number of cycles are complete, the average of the gain and phase are determined over the last 5 cycles and the cycles_complete flag
-// is set.  This function must be reset using the reset flag prior to the next dwell.
+// determine_gain - this function receives time history data during a dwell and frequency sweep tests for max gain,  
+// rate P and rate D tuning and determines the gain and phase of the response to the input. For dwell tests once  
+// the designated number of cycles are complete, the average of the gain and phase are determined over the last 5 cycles 
+// and the cycles_complete flag is set. For frequency sweep tests, phase and gain are determined for every cycle and 
+// cycle_complete flag is set to indicate when to pull the phase and gain data.  The flag is reset to enable the next 
+// cycle to be analyzed.
 void AC_AutoTune_FreqResp::determine_gain(float tgt_rate, float meas_rate, float tgt_freq)
 {
     uint32_t now = AP_HAL::millis();
@@ -205,9 +209,11 @@ void AC_AutoTune_FreqResp::determine_gain(float tgt_rate, float meas_rate, float
     prev_meas = meas_rate;
 }
 
-// determine_gain_angle - this function receives time history data during a dwell test input and determines the gain and phase of the response to the input.
-// Once the designated number of cycles are complete, the average of the gain and phase are determined over the last 5 cycles and the cycles_complete flag
-// is set.  This function must be reset using the reset flag prior to the next dwell.
+// determine_gain_angle - this function receives time history data during a dwell and frequency sweep tests for angle_p tuning  
+// and determines the gain, phase, and max acceleration of the response to the input. For dwell tests once the designated number  
+// of cycles are complete, the average of the gain, phase, and max acceleration are determined over the last 5 cycles and the 
+// cycles_complete flag is set. For frequency sweep tests, phase and gain are determined for every cycle and cycle_complete flag is set
+// to indicate when to pull the phase and gain data.  The flag is reset to enable the next cycle to be analyzed.
 void AC_AutoTune_FreqResp::determine_gain_angle(float command, float tgt_angle, float meas_angle, float tgt_freq)
 {
 
@@ -402,7 +408,7 @@ void AC_AutoTune_FreqResp::determine_gain_angle(float command, float tgt_angle,
     prev_meas_angle = meas_angle;
 }
 
-// push to peak info buffer
+// push measured peak info to buffer
 void AC_AutoTune_FreqResp::push_to_meas_buffer(uint16_t count, float amplitude, uint32_t time_ms)
 {
     peak_info sample;
@@ -412,7 +418,7 @@ void AC_AutoTune_FreqResp::push_to_meas_buffer(uint16_t count, float amplitude,
     meas_peak_info_buffer->push(sample);
 }
 
-// pull from peak info buffer
+// pull measured peak info from buffer
 void AC_AutoTune_FreqResp::pull_from_meas_buffer(uint16_t &count, float &amplitude, uint32_t &time_ms)
 {
     peak_info sample;
@@ -425,7 +431,7 @@ void AC_AutoTune_FreqResp::pull_from_meas_buffer(uint16_t &count, float &amplitu
     time_ms = sample.time_ms;
 }
 
-// push to peak info buffer
+// push target peak info to buffer
 void AC_AutoTune_FreqResp::push_to_tgt_buffer(uint16_t count, float amplitude, uint32_t time_ms)
 {
     peak_info sample;
@@ -436,7 +442,7 @@ void AC_AutoTune_FreqResp::push_to_tgt_buffer(uint16_t count, float amplitude, u
 
 }
 
-// pull from peak info buffer
+// pull target peak info from buffer
 void AC_AutoTune_FreqResp::pull_from_tgt_buffer(uint16_t &count, float &amplitude, uint32_t &time_ms)
 {
     peak_info sample;