cosmetics changes to ObstacleAvoidance library

src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp

@@ -45,7 +45,7 @@
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_status.h>
 #include <lib/ecl/geo/geo.h>
-#include "ObstacleAvoidance.hpp"
+#include <ObstacleAvoidance.hpp>
 
 /**
  * This enum has to agree with position_setpoint_s type definition
@@ -103,7 +103,7 @@ protected:
 	float _target_acceptance_radius = 0.0f; /**< Acceptances radius of the target */
 	int _mission_gear = landing_gear_s::GEAR_KEEP;
 
-	ObstacleAvoidance _obstacle_avoidance;
+	ObstacleAvoidance _obstacle_avoidance; /**< class adjusting setpoints according to external avoidance module's input */
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
 					(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise,

src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp

@@ -86,7 +86,7 @@ bool FlightTaskAutoMapper::update()
 		_generateVelocitySetpoints();
 	}
 
-	_obstacle_avoidance.prepareAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
+	_obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
 			_yawspeed_setpoint);
 
 	// during mission and reposition, raise the landing gears but only

src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp

@@ -91,7 +91,7 @@ bool FlightTaskAutoMapper2::update()
 		break;
 	}
 
-	_obstacle_avoidance.prepareAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
+	_obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
 			_yawspeed_setpoint);
 
 	_generateSetpoints();

src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp

@@ -84,7 +84,7 @@ bool ObstacleAvoidance::initializeSubscriptions(SubscriptionArray &subscription_
 	return true;
 }
 
-void ObstacleAvoidance::prepareAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel_sp, float &yaw_sp,
+void ObstacleAvoidance::injectAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel_sp, float &yaw_sp,
 		float &yaw_speed_sp)
 {
 

src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp

@@ -64,16 +64,16 @@ public:
 	bool initializeSubscriptions(SubscriptionArray &subscription_array);
 
 	/**
-	 * Inject setpoints from obstacle avoidance system into FLightTasks.
+	 * Inject setpoints from obstacle avoidance system into FlightTasks.
 	 * @param pos_sp, position setpoint
 	 * @param vel_sp, velocity setpoint
 	 * @param yaw_sp, yaw setpoint
 	 * @param yaw_speed_sp, yaw speed setpoint
 	 */
-	void prepareAvoidanceSetpoints(matrix::Vector3f &pos_sp, matrix::Vector3f &vel_sp, float &yaw_sp, float &yaw_speed_sp);
+	void injectAvoidanceSetpoints(matrix::Vector3f &pos_sp, matrix::Vector3f &vel_sp, float &yaw_sp, float &yaw_speed_sp);
 
 	/**
-	 * Updates the desired waypoints to send to the obstacle avoidance system.
+	 * Updates the desired waypoints to send to the obstacle avoidance system. These messages don't have any direct impact on the flight.
 	 * @param curr_wp, current position triplet
 	 * @param curr_yaw, current yaw triplet
 	 * @param curr_yawspeed, current yaw speed triplet
@@ -91,7 +91,7 @@ public:
 	void updateAvoidanceDesiredSetpoints(const matrix::Vector3f &pos_sp, const matrix::Vector3f &vel_sp);
 
 	/**
-	 * Checks the vehicle progress between previous and current position triplet.
+	 * Checks the vehicle progress between previous and current position waypoint of the triplet.
 	 * @param pos, vehicle position
 	 * @param prev_wp, previous position triplet
 	 * @param target_acceptance_radius, current position triplet xy acceptance radius