Improved comments/docs

src/simpleFusion.cpp

@@ -2,6 +2,14 @@
 
 SimpleFusion::SimpleFusion(void) {};
 
+
+/*!
+ *    @brief Initializes filter parameters. 
+ *    @param filterUpdateRate The frequency of filter updates up to 1000000 Hertz
+ *    @param pitchGyroFavoring The amount that the gyroscope is favored in the pitch direction as a decimal percent less than 1
+ * 		@param rollGyroFavoring The amount that the gyroscope is favored in the roll direction as a decimal percent less than 1 
+ *		@returns false if any gyro favoring is an invalid value, true if they are valid.
+*/
 bool SimpleFusion::init(int16_t filterUpdateRate, float pitchGyroFavoring, float rollGyroFavoring) {
 	_filterUpdateRate = filterUpdateRate;
 	_pitchGyroFavoring = pitchGyroFavoring;
@@ -21,7 +29,10 @@ bool SimpleFusion::init(int16_t filterUpdateRate, float pitchGyroFavoring, float
 	return true;
 };
 
-
+/*!
+ *    @brief Allows you to update the library at the desired frequency. You should update the sensor only when the library is running
+ *		@returns true if it is time to update the library, false if it isn't
+*/
 bool SimpleFusion::shouldUpdateData() {
 	long dt = (micros() - _previousTime);
 
@@ -35,7 +46,12 @@ bool SimpleFusion::shouldUpdateData() {
 	return false;
 };
 
-
+/*!
+ *    @brief Calculates rotation angles based on gyroscope and accelerometer readings
+ *    @param accelerometer The accelerometer readings from the IMU as ThreeAxis struct variables
+ *    @param gyroscope The gyroscope readings from the IMU as ThreeAxis struct variables
+ * 		@param angleOutputs The address of a FusedAngles struct variable for holding angular outputs
+*/
 void SimpleFusion::getFilteredAngles(ThreeAxis &accelerometer, ThreeAxis &gyroscope, FusedAngles *angleOutputs, AngleUnit angleUnit) { 
 
 	float pitchFromAccel = 0;

src/simpleFusion.h

@@ -3,7 +3,7 @@
 
 #include <Arduino.h>
 
-#define DATA_UPDATE_POLL_TOLERANCE	50			//microseconds
+#define DATA_UPDATE_POLL_TOLERANCE	50			// The leniency of shouldUpdateData(), in microseconds
 
 typedef struct {
 	float x;