AC_Sprayer: Change the comment of the variables in the form of doxygen.

libraries/AC_Sprayer/AC_Sprayer.h

@@ -25,12 +25,12 @@
 #include <RC_Channel/RC_Channel.h>
 #include <AP_InertialNav/AP_InertialNav.h>     // Inertial Navigation library
 
-#define AC_SPRAYER_DEFAULT_PUMP_RATE        10.0f   // default quantity of spray per meter travelled
+#define AC_SPRAYER_DEFAULT_PUMP_RATE        10.0f   ///< default quantity of spray per meter travelled
-#define AC_SPRAYER_DEFAULT_PUMP_MIN         0       // default minimum pump speed expressed as a percentage from 0 to 100
+#define AC_SPRAYER_DEFAULT_PUMP_MIN         0       ///< default minimum pump speed expressed as a percentage from 0 to 100
-#define AC_SPRAYER_DEFAULT_SPINNER_PWM      1300    // default speed of spinner (higher means spray is throw further horizontally
+#define AC_SPRAYER_DEFAULT_SPINNER_PWM      1300    ///< default speed of spinner (higher means spray is throw further horizontally
-#define AC_SPRAYER_DEFAULT_SPEED_MIN        100     // we must be travelling at least 1m/s to begin spraying
+#define AC_SPRAYER_DEFAULT_SPEED_MIN        100     ///< we must be travelling at least 1m/s to begin spraying
-#define AC_SPRAYER_DEFAULT_TURN_ON_DELAY    100     // delay between when we reach the minimum speed and we begin spraying.  This reduces the likelihood of constantly turning on/off the pump
+#define AC_SPRAYER_DEFAULT_TURN_ON_DELAY    100     ///< delay between when we reach the minimum speed and we begin spraying.  This reduces the likelihood of constantly turning on/off the pump
-#define AC_SPRAYER_DEFAULT_SHUT_OFF_DELAY   1000    // shut-off delay in milli seconds.  This reduces the likelihood of constantly turning on/off the pump
+#define AC_SPRAYER_DEFAULT_SHUT_OFF_DELAY   1000    ///< shut-off delay in milli seconds.  This reduces the likelihood of constantly turning on/off the pump
 
 /// @class  AC_Sprayer
 /// @brief  Object managing a crop sprayer comprised of a spinner and a pump both controlled by pwm
@@ -61,23 +61,22 @@ public:
     static const struct AP_Param::GroupInfo var_info[];
 
 private:
-    // pointers to other objects we depend upon
+    const AP_InertialNav* const _inav;      ///< pointers to other objects we depend upon
-    const AP_InertialNav* const _inav;
 
     // parameters
-    AP_Int8         _enabled;               // top level enable/disable control
+    AP_Int8         _enabled;               ///< top level enable/disable control
-    AP_Float        _pump_pct_1ms;          // desired pump rate (expressed as a percentage of top rate) when travelling at 1m/s
+    AP_Float        _pump_pct_1ms;          ///< desired pump rate (expressed as a percentage of top rate) when travelling at 1m/s
-    AP_Int8         _pump_min_pct;          // minimum pump rate (expressed as a percentage from 0 to 100)
+    AP_Int8         _pump_min_pct;          ///< minimum pump rate (expressed as a percentage from 0 to 100)
-    AP_Int16        _spinner_pwm;           // pwm rate of spinner
+    AP_Int16        _spinner_pwm;           ///< pwm rate of spinner
-    AP_Float        _speed_min;             // minimum speed in cm/s above which the sprayer will be started
+    AP_Float        _speed_min;             ///< minimum speed in cm/s above which the sprayer will be started
 
-    // flag bitmask
+    /// flag bitmask
     struct sprayer_flags_type {
-        uint8_t spraying    : 1;            // 1 if we are currently spraying
+        uint8_t spraying    : 1;            ///< 1 if we are currently spraying
-        uint8_t testing     : 1;            // 1 if we are testing the sprayer and should output a minimum value
+        uint8_t testing     : 1;            ///< 1 if we are testing the sprayer and should output a minimum value
     } _flags;
 
     // internal variables
-    uint32_t        _speed_over_min_time;   // time at which we reached speed minimum
+    uint32_t        _speed_over_min_time;   ///< time at which we reached speed minimum
-    uint32_t        _speed_under_min_time;  // time at which we fell below speed minimum
+    uint32_t        _speed_under_min_time;  ///< time at which we fell below speed minimum
 };