message: offboard: added doxygen comments
diff: @@ -6,12 +6,27 @@ namespace dronecore {
  class OffboardImpl;
  +/**
  + * The Offboard class allows do offboard velocity control of a drone.
  + *
  + * Attention: this is work in progress, use with caution!
  + */
  class Offboard
  {
  public:
  + /**
  + * Constructor for Offboard called internally.
  + */
  explicit Offboard(OffboardImpl *impl);
  +
  + /**
  + * Destructor for Offboard called internally.
  + */
  ~Offboard();
  + /**
  + * Results for offboard requests
  + */
  enum class Result {
  SUCCESS = 0,
  NO_DEVICE,
  @@ -22,31 +37,83 @@ public:
  UNKNOWN
  };
  + /**
  + * Returns human-readable English string for Offboard::Result.
  + *
  + * @param result result enum
  + */
  static const char *result_str(Result);
  + /**
  + * Callback type for offboard requests.
  + */
  typedef std::function<void(Result)> result_callback_t;
  + /**
  + * Type for Velocity commands in NED (North East Down) coordinates and yaw.
  + */
  struct VelocityNEDYaw {
  - float north_m_s;
  - float east_m_s;
  - float down_m_s;
  - float yaw_deg;
  + float north_m_s; /**< Velocity North in meters/second */
  + float east_m_s; /**< Velocity East in meters/second */
  + float down_m_s; /**< Velocity Down in meters/second */
  + float yaw_deg; /**< Yaw in degrees (0 North, positive is clock-wise looking from above. */
  };
  + /**
  + * Type for velocity commands in body coordinates (forward, right, down and yaw angular rate).
  + */
  struct VelocityBodyYawspeed {
  - float forward_m_s;
  - float right_m_s;
  - float down_m_s;
  - float yawspeed_deg_s;
  + float forward_m_s; /**< Velocity forward in meters/second */
  + float right_m_s; /**< Velocity right in meters/second */
  + float down_m_s; /**< Velocity down in meters/second */
  + float yawspeed_deg_s; /**< Yaw angular rate in degrees/second (positive for clock-wise
  + looking from above */
  };
  + /**
  + * Starts offboard control (synchronous).
  + *
  + * Attention: this is work in progress, use with caution!
  + *
  + * @return result of request
  + */
  Offboard::Result start() const;
  +
  + /**
  + * Stops offboard control (synchronous).
  + *
  + * @return result of request
  + */
  Offboard::Result stop() const;
  + /**
  + * Starts offboard control (asynchronous).
  + *
  + * Attention: this is work in progress, use with caution!
  + *
  + * @param result to receive request result
  + */
  void start_async(result_callback_t callback);
  +
  + /**
  + * Stops offboard control (asynchronous).
  + *
  + * @param result to receive request result
  + */
  void stop_async(result_callback_t callback);
  + /**
  + * Sets the velocity in NED coordinates and yaw.
  + *
  + * @param velocity_and_yaw velocity and yaw struct
  + */
  void set_velocity_ned(VelocityNEDYaw velocity_ned_yaw);
  +
  + /**
  + * Sets the velocity body coordinates coordinates and yaw angular rate.
  + *
  + * @param velocity_body_yawspeed velocity and yaw angular rate struct
  + */
  void set_velocity_body(VelocityBodyYawspeed velocity_body_yawspeed);
  // Non-copyable
  