From 99b0a8e4bcce1face4f9bfd2a415859dce5584ef Mon Sep 17 00:00:00 2001
From: GuillaumeLaine <guillaume.william1@hotmail.com>
Date: Tue, 27 Feb 2024 10:08:35 +0100
Subject: [PATCH] ci: check doxygen script works on PR and fix doxygen

---
 .github/workflows/doxygen-gh-pages.yml        | 20 ++++++++++++++++++-
 .../include/px4_ros2/utils/geodesic.hpp       |  8 ++++----
 2 files changed, 23 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/doxygen-gh-pages.yml b/.github/workflows/doxygen-gh-pages.yml
index 99c909ba..b5fc7dba 100644
--- a/.github/workflows/doxygen-gh-pages.yml
+++ b/.github/workflows/doxygen-gh-pages.yml
@@ -5,9 +5,13 @@ on:
     branches:
       - main
       - doxygen
+  pull_request:
+    branches:
+      - "*"
 
 jobs:
   deploy:
+    if: github.ref == 'refs/heads/main' || github.ref == 'refs/heads/doxygen'
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
@@ -24,4 +28,18 @@ jobs:
         uses: peaceiris/actions-gh-pages@v3
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
-          publish_dir: ./docs/html
\ No newline at end of file
+          publish_dir: ./docs/html
+
+  check-doxygen:
+    if: github.event_name == 'pull_request'
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+
+      - name: Install Doxygen
+        run: sudo apt update && sudo apt install -y doxygen
+
+      - name: Run Doxygen
+        run: ./scripts/run-doxygen.sh
diff --git a/px4_ros2_cpp/include/px4_ros2/utils/geodesic.hpp b/px4_ros2_cpp/include/px4_ros2/utils/geodesic.hpp
index 7b565a7d..e785ac88 100644
--- a/px4_ros2_cpp/include/px4_ros2/utils/geodesic.hpp
+++ b/px4_ros2_cpp/include/px4_ros2/utils/geodesic.hpp
@@ -224,7 +224,7 @@ static inline Eigen::Vector3f vectorToGlobalPosition(
  *
  * @param global_position_line_start line start lat [deg], lon [deg]
  * @param global_position_line_end line end lat [deg], lon [deg]
- * @param dist distance [m] of target global position from position 'start' towards position 'end' (can be negative)
+ * @param dist_from_start distance [m] of target global position from position 'start' towards position 'end' (can be negative)
  *
  * @ingroup geodesic
  */
@@ -239,7 +239,7 @@ Eigen::Vector2d globalPositionFromLineAndDist(
  *
  * @param global_position_now current lat [deg], lon [deg]
  * @param heading heading from the current position [rad] (clockwise)
- * @param distance distance from the current position [m]
+ * @param dist distance from the current position [m]
  * @return the target global position
  *
  * @ingroup geodesic
@@ -254,7 +254,7 @@ Eigen::Vector2d globalPositionFromHeadingAndDist(
  *
  * @param global_position_now current lat [deg], lon [deg]
  * @param heading heading from the current position [rad] (clockwise)
- * @param distance distance from the current position [m]
+ * @param dist distance from the current position [m]
  * @return the target global position
  *
  * @ingroup geodesic
@@ -288,7 +288,7 @@ Eigen::Vector2d addVectorToGlobalPosition(
  * @brief Compute the global position from adding a local frame vector to the current global position.
  *
  * @param global_position current lat [deg], lon [deg], alt AMSL [m]
- * @param vector_ne local vector to add [m^3] (NED)
+ * @param vector_ned local vector to add [m^3] (NED)
  * @return the resulting global position from the addition
  *
  * @ingroup geodesic