Updated documentation

fixposition · Jan 15, 2024 · b6747f7 · b6747f7
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diff --git a/README.md b/README.md
@@ -176,7 +176,7 @@ The output is published on the following:
     | `/fixposition/gnss1` | `sensor_msgs/NavSatFix` | as configured on web-interface | Latitude, Longitude and Height |
     | `/fixposition/gnss2` | `sensor_msgs/NavSatFix` | as configured on web-interface | Latitude, Longitude and Height |
 
--   The Vision-RTK2 can also output an average GNSS-based LLH position (i.e., only GNSS, not Fusion) and heading estimate based on SOG and COG (i.e., the platform must be moving for it to be accurate) by utilizing several NMEA messages, which serves as an auxiliary output until Fusion is fully initialized. To do this, enable the NMEA-GP-GGA_GNSS, NMEA-GP-RMC_GNSS, and NMEA-GP-ZDA_GNSS messages. This message's output frequency equals the lowest frequency of any of these three message types. **Note: This output should only be used until Fusion is fully initialized.**
+-   The Vision-RTK2 can also output an average GNSS-based LLH position (i.e., **only GNSS, not Fusion**) and heading estimate based on speed over ground (SOG) and course over ground (COG) - (i.e., **the platform must be moving for it to be accurate**) by utilizing several NMEA messages, which serves as an auxiliary output until Fusion is fully initialized. To do this, enable the NMEA-GP-GGA_GNSS, NMEA-GP-RMC_GNSS, and NMEA-GP-ZDA_GNSS messages. This message's output frequency equals the lowest frequency of any of these three message types. **Note: This output should only be used until Fusion is fully initialized.**
 
     | Topic                | Message Type            | Frequency                      | Description                    |
     | -------------------- | ----------------------- | ------------------------------ | ------------------------------ |

diff --git a/fixposition_driver_ros1/include/fixposition_driver_ros1/fixposition_driver_node.hpp b/fixposition_driver_ros1/include/fixposition_driver_ros1/fixposition_driver_node.hpp
@@ -57,6 +57,9 @@ class FixpositionDriverNode : public FixpositionDriver {
         GpzdaData gpzda;
         GprmcData gprmc;
 
+        /**
+         * @brief Construct a new Fixposition Driver Node object
+         */
         bool checkEpoch() {
             if ((gpgga.time.compare(gpzda.time) == 0) && (gpgga.time.compare(gprmc.time) == 0)) {
                 return true;
@@ -75,6 +78,11 @@ class FixpositionDriverNode : public FixpositionDriver {
      */
     void BestGnssPosToPublishNavSatFix(const Oem7MessageHeaderMem* header, const BESTGNSSPOSMem* payload);
 
+    /**
+     * @brief Observer Function to publish NMEA message from GPGGA, GPRMC, and GPZDA once the GNSS epoch transmission is complete
+     *
+     * @param[in] data
+     */
     void PublishNmea(NmeaMessage data);
 
     ros::NodeHandle nh_;

diff --git a/fixposition_driver_ros2/include/fixposition_driver_ros2/fixposition_driver_node.hpp b/fixposition_driver_ros2/include/fixposition_driver_ros2/fixposition_driver_node.hpp
@@ -60,6 +60,9 @@ class FixpositionDriverNode : public FixpositionDriver {
         GpzdaData gpzda;
         GprmcData gprmc;
 
+        /**
+         * @brief Check if GNSS epoch is complete
+         */
         bool checkEpoch() {
             if ((gpgga.time.compare(gpzda.time) == 0) && (gpgga.time.compare(gprmc.time) == 0)) {
                 return true;
@@ -78,6 +81,11 @@ class FixpositionDriverNode : public FixpositionDriver {
      */
     void BestGnssPosToPublishNavSatFix(const Oem7MessageHeaderMem* header, const BESTGNSSPOSMem* payload);
 
+    /**
+     * @brief Observer Function to publish NMEA message from GPGGA, GPRMC, and GPZDA once the GNSS epoch transmission is complete
+     *
+     * @param[in] data
+     */
     void PublishNmea(NmeaMessage data);
 
     std::shared_ptr<rclcpp::Node> node_;