Fix documentation workflow

.github/workflows/doxygen.yml

@@ -11,7 +11,7 @@ jobs:
     permissions:
       contents: write
     steps:
-      - uses: DenverCoder1/doxygen-github-pages-action@v2
+      - uses: DenverCoder1/doxygen-github-pages-action@v2.0.0
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           branch: gh-pages

README.md

@@ -83,6 +83,7 @@ The following systems integrate Avionics as a submodule:
 - Doxygen: run `doxygen Doxyfile` from the repository root. HTML output is placed in `build/doxygen/index.html` (README is used as the main page).
 - High-level notes: data logging constraints and Byte5 format are summarized in `docs/FlashDataSaving.md`.
 - Flight history: see `docs/FlightTests.md` for vehicles and dates that have flown with this codebase.
+- Target Audience: The documentation is written for compsci students with very little background in C++ or embedded systems. 
 
 ## Unit Testing
 

include/data_handling/DataPoint.h

@@ -4,7 +4,7 @@
 #include <cstdint>
 
 /**
- * @brief Timestamped scalar measurement container.
+ * @brief Timestamped float measurement container.
  * @note When to use: represent a single sensor or derived value tagged with the
  *       millisecond timestamp at which it was produced.
  */

include/data_handling/DataSaverBigSD.h

@@ -31,7 +31,7 @@ class DataSaverBigSD : public IDataSaver {
     explicit DataSaverBigSD(uint8_t csPin = 5);
 
     /**
-     * @brief Initialize the SD card and open a streaming file.
+     * @brief Initialize the SD card and open a streaming file. Returns true on success
      * @note When to use: during setup before any calls to saveDataPoint.
      */
     bool begin();

include/data_handling/DataSaverSDSerial.h

@@ -8,6 +8,11 @@
 #include "data_handling/DataPoint.h"
 #include "data_handling/DataSaver.h"
 
+/**
+ * @brief IDataSaver implementation that streams CSV packets over UART.
+ * @note When to use: log data to an external serial data logger when file
+ *       systems (SD/SPI flash) are unavailable or you need live passthrough.
+ */
 class DataSaverSDSerial: public IDataSaver {
     // Given data points, will write the data over uart to a serial data logger 
 
@@ -35,4 +40,4 @@ class DataSaverSDSerial: public IDataSaver {
 
 };
 
-#endif
+#endif

include/state_estimation/VerticalVelocityEstimator.h

@@ -25,23 +25,14 @@ struct InitialState {
 
 
 /**
- * VerticalVelocityEstimator provides a 1D Kalman filter that fuses altimeter and acceleration
- * data to estimate altitude and vertical velocity. It is adapted from the logic in 
- * ApogeeDetector but excludes the apogee detection mechanism. 
- *
- * Assumptions:
- *  - The state is [altitude, vertical velocity] (in SI units).
- *  - The process model uses the vertical acceleration as a control input.
- *  - The accelerometer outputs roughly +9.81 m/s² when at rest (measuring gravity).
- *    In free fall it reads ~0 m/s². Hence we subtract g (9.81 m/s²) from the raw 
- *    accelerometer reading to get the rocket’s inertial acceleration.
- *  - The altimeter measurement is used to correct the altitude.
- *
- * The user of this class may simply call update(...) whenever new sensor readings 
- * arrive and retrieve the current altitude and velocity estimates.
- *
- * @note When to use: any pipeline that needs filtered altitude/velocity inputs for
- *       detection, control, or prediction without embedding apogee logic.
+ * @brief 1D Kalman filter fusing altimeter and accelerometer data.
+ * @details Maintains altitude and vertical velocity by treating vertical
+ *          acceleration as the control input. Gravity is subtracted from raw
+ *          accelerometer readings to obtain inertial acceleration. Call
+ *          `update()` with new IMU + baro samples and query the latest
+ *          estimates via getters.
+ * @note Use when downstream logic (detectors, control, telemetry) needs
+ *       filtered altitude/velocity without embedding apogee-specific behavior.
  */
 class VerticalVelocityEstimator {
 public: