updated comments and readme

README.md

@@ -21,7 +21,7 @@ For simulations:
 
 * AprilTag detector
 * [Landing Pad Estimator](./ros_packages/mrs_landing_pad_estimation)
-* [Precise Landing Conroller](./ros_packages/mrs_precise_landing)
+* [Precise Landing Controller](./ros_packages/mrs_precise_landing)
 * [Gazebo Resources for testing](./ros_packages/mrs_precise_landing_gazebo)
 
 ## Example simulation
@@ -42,7 +42,7 @@ You will need to prepare:
 * [config file](./ros_packages/mrs_precise_landing_gazebo/tmux/config/apriltag.yaml) for the april tag detector
 * camera node name, camera topic name (such that `/$UAV_NAME/camera_node/camera_topic`)
 * the ids of the AprilTags need to be filled in the custom config for the estimator, [estimator_config](./ros_packages/mrs_precise_landing_gazebo/tmux/config/landing_estimator.yaml)
-* how should the heading be controlled, prepare the controller config, [controller_config](./ros_packages/mrs_precise_landing_gazebo/tmux/config/landing_controller.yaml)
+* how should the heading be controlled?, prepare the controller config, [controller_config](./ros_packages/mrs_precise_landing_gazebo/tmux/config/landing_controller.yaml)
 
 ```bash
 roslaunch mrs_precise_landing precise_landing.launch apriltag_config:=`rospack find mrs_landing_pad_estimation`/config/apriltag_recursive.yaml camera_node:=bluefox_optflow image_topic:=image_raw estimator_config:=<estimator_config> controller_config:=<controller_config>

ros_packages/mrs_landing_pad_estimation/config/landing_pad_estimation.yaml

@@ -1,16 +1,23 @@
-prediction_rate: 100.0 # [Hz]
-
 # order by their embeddedness
 # the first one is the smallest and the most embedded one
 tag_ids: [0, 10] # [-]
 
+# the estimation will happen in this frame of refernece
+# (detections are transformed to this frame first)
 estimation_frame: "fixed_origin"
 
+# internal loop rate of the LKF
+prediction_rate: 100.0 # [Hz]
+
+# the node will stop fusing and outputing any data of detections are not coming for more than this
 correction_timeout: 2.0 # [s]
 
 # max relative distance to the landing tag
+# anything detection beyond this distance (in the fcu frame) will be thrown away
 max_relative_distance: 8.0
 
+# parameters for the LKF estimator
+# don't change
 lkf:
 
   # state matrix

ros_packages/mrs_precise_landing/config/precise_landing.yaml

@@ -1,8 +1,11 @@
+# what controller will be used for the landing
 controller: "Se3Controller"
 
+# what tracker will be used for the landing
 tracker: "MpcTracker"
 
-# the frame id in which all the operations are conducted
+# the frame in which all the operations are conducted
+# (all the incoming data is transformed to this frame first)
 frame_id: "fixed_origin"
 
 desired_heading:
@@ -28,6 +31,7 @@ stages:
 
     timeout: 15.0 # [s]
 
+    # the alignment criterion is relaxed as the time goes
     criterion:
 
       initial_radius: 0.03         # [m], +-
@@ -49,8 +53,8 @@ stages:
   aborting:
     height: 3.0 # [m]
 
-# rate of publishing the trajectory
+# rate of the feedback loop
 rate: 10.0 # [Hz]
 
-# sampling of the trajectory
+# sampling rate of the outcoming trajectory
 trajectory_dt: 0.20 # [s]