mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-24 07:09:48 +08:00
refactor(local_position_estimator): convert params.c to module.yaml
Convert 1 parameter file(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
Jacob Dahl
@@ -47,6 +47,8 @@ px4_add_module(
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sensors/mocap.cpp
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sensors/land.cpp
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sensors/landing_target.cpp
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MODULE_CONFIG
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params.yaml
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DEPENDS
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controllib
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geo
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@@ -1,473 +0,0 @@
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#include <parameters/param.h>
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/**
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* Local position estimator enable (unsupported)
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*
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* @group Local Position Estimator
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* @boolean
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*/
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PARAM_DEFINE_INT32(LPE_EN, 0);
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/**
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* Optical flow z offset from center
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*
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* @group Local Position Estimator
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* @unit m
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* @min -1
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* @max 1
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_FLW_OFF_Z, 0.0f);
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/**
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* Optical flow scale
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.1
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* @max 10.0
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_FLW_SCALE, 1.3f);
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/**
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* Optical flow rotation (roll/pitch) noise gain
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*
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* @group Local Position Estimator
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* @unit m/s/rad
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* @min 0.1
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* @max 10.0
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_FLW_R, 7.0f);
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/**
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* Optical flow angular velocity noise gain
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*
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* @group Local Position Estimator
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* @unit m/rad
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* @min 0.0
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* @max 10.0
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_FLW_RR, 7.0f);
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/**
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* Optical flow minimum quality threshold
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*
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* @group Local Position Estimator
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* @min 0
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* @max 255
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*/
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PARAM_DEFINE_INT32(LPE_FLW_QMIN, 150);
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/**
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* Sonar z standard deviation.
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.01
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* @max 1
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_SNR_Z, 0.05f);
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/**
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* Sonar z offset from center of vehicle +down
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*
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* @group Local Position Estimator
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* @unit m
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* @min -1
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* @max 1
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_SNR_OFF_Z, 0.00f);
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/**
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* Lidar z standard deviation.
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.01
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* @max 1
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_LDR_Z, 0.03f);
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/**
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* Lidar z offset from center of vehicle +down
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*
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* @group Local Position Estimator
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* @unit m
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* @min -1
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* @max 1
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_LDR_OFF_Z, 0.00f);
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/**
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* Accelerometer xy noise density
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*
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* Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)
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*
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* Larger than data sheet to account for tilt error.
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*
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* @group Local Position Estimator
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* @unit m/s^2/sqrt(Hz)
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* @min 0.00001
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* @max 2
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* @decimal 4
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*/
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PARAM_DEFINE_FLOAT(LPE_ACC_XY, 0.012f);
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/**
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* Accelerometer z noise density
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*
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* Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)
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*
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* @group Local Position Estimator
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* @unit m/s^2/sqrt(Hz)
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* @min 0.00001
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* @max 2
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* @decimal 4
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*/
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PARAM_DEFINE_FLOAT(LPE_ACC_Z, 0.02f);
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/**
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* Barometric presssure altitude z standard deviation.
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.01
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* @max 100
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(LPE_BAR_Z, 3.0f);
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/**
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* GPS delay compensaton
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*
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* @group Local Position Estimator
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* @unit s
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* @min 0
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* @max 0.4
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(LPE_GPS_DELAY, 0.29f);
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/**
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* Minimum GPS xy standard deviation, uses reported EPH if greater.
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.01
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* @max 5
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(LPE_GPS_XY, 1.0f);
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/**
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* Minimum GPS z standard deviation, uses reported EPV if greater.
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.01
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* @max 200
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(LPE_GPS_Z, 3.0f);
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/**
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* GPS xy velocity standard deviation.
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*
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* EPV used if greater than this value.
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*
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* @group Local Position Estimator
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* @unit m/s
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* @min 0.01
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* @max 2
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_GPS_VXY, 0.25f);
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/**
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* GPS z velocity standard deviation.
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*
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* @group Local Position Estimator
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* @unit m/s
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* @min 0.01
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* @max 2
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_GPS_VZ, 0.25f);
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/**
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* Max EPH allowed for GPS initialization
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*
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* @group Local Position Estimator
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* @unit m
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* @min 1.0
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* @max 5.0
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_EPH_MAX, 3.0f);
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/**
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* Max EPV allowed for GPS initialization
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*
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* @group Local Position Estimator
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* @unit m
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* @min 1.0
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* @max 5.0
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_EPV_MAX, 5.0f);
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/**
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* Vision delay compensation.
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*
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* Set to zero to enable automatic compensation from measurement timestamps
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*
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* @group Local Position Estimator
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* @unit s
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* @min 0
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* @max 0.1
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(LPE_VIS_DELAY, 0.1f);
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/**
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* Vision xy standard deviation.
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.01
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* @max 1
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_VIS_XY, 0.1f);
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/**
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* Vision z standard deviation.
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.01
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* @max 100
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_VIS_Z, 0.5f);
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/**
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* Vicon position standard deviation.
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.0001
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* @max 1
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* @decimal 4
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*/
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PARAM_DEFINE_FLOAT(LPE_VIC_P, 0.001f);
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/**
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* Position propagation noise density
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*
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* Increase to trust measurements more.
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* Decrease to trust model more.
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*
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* @group Local Position Estimator
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* @unit m/s/sqrt(Hz)
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* @min 0
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* @max 1
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* @decimal 8
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*/
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PARAM_DEFINE_FLOAT(LPE_PN_P, 0.1f);
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/**
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* Velocity propagation noise density
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*
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* Increase to trust measurements more.
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* Decrease to trust model more.
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*
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* @group Local Position Estimator
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* @unit m/s^2/sqrt(Hz)
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* @min 0
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* @max 1
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* @decimal 8
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*/
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PARAM_DEFINE_FLOAT(LPE_PN_V, 0.1f);
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/**
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* Accel bias propagation noise density
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*
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* @group Local Position Estimator
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* @unit m/s^3/sqrt(Hz)
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* @min 0
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* @max 1
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* @decimal 8
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*/
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PARAM_DEFINE_FLOAT(LPE_PN_B, 1e-3f);
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/**
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* Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)
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*
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* @group Local Position Estimator
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* @unit m/s/sqrt(Hz)
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* @min 0
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* @max 1
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_PN_T, 0.001f);
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/**
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* Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg)
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*
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* Used to calculate increased terrain random walk nosie due to movement.
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*
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* @group Local Position Estimator
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* @unit %
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* @min 0
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* @max 100
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_T_MAX_GRADE, 1.0f);
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/**
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* Flow gyro high pass filter cut off frequency
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*
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* @group Local Position Estimator
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* @unit Hz
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* @min 0
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* @max 2
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_FGYRO_HP, 0.001f);
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/**
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* Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow)
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*
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* By initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable
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*
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* @group Local Position Estimator
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* @min 0
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* @max 1
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*/
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PARAM_DEFINE_INT32(LPE_FAKE_ORIGIN, 0);
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/**
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* Local origin latitude for nav w/o GPS
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*
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* @group Local Position Estimator
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* @unit deg
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* @min -90
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* @max 90
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* @decimal 8
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*/
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PARAM_DEFINE_FLOAT(LPE_LAT, 47.397742f);
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/**
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* Local origin longitude for nav w/o GPS
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*
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* @group Local Position Estimator
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* @unit deg
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* @min -180
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* @max 180
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* @decimal 8
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*/
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PARAM_DEFINE_FLOAT(LPE_LON, 8.545594);
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/**
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* Cut frequency for state publication
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*
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* @group Local Position Estimator
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* @unit Hz
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* @min 5
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* @max 1000
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* @decimal 0
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*/
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PARAM_DEFINE_FLOAT(LPE_X_LP, 5.0f);
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/**
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* Required velocity xy standard deviation to publish position
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*
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* @group Local Position Estimator
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* @unit m/s
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* @min 0.01
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* @max 1.0
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_VXY_PUB, 0.3f);
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/**
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* Required z standard deviation to publish altitude/ terrain
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.3
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* @max 5.0
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* @decimal 1
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*/
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PARAM_DEFINE_FLOAT(LPE_Z_PUB, 1.0f);
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/**
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* Land detector z standard deviation
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.001
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* @max 10.0
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_LAND_Z, 0.03f);
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/**
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* Land detector xy velocity standard deviation
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*
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* @group Local Position Estimator
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* @unit m/s
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* @min 0.01
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* @max 10.0
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_LAND_VXY, 0.05f);
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/**
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* Minimum landing target standard covariance, uses reported covariance if greater.
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*
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* @group Local Position Estimator
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* @unit m^2
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* @min 0.0
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* @max 10
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(LPE_LT_COV, 0.0001f);
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/**
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* Integer bitmask controlling data fusion
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*
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* Set bits in the following positions to enable:
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* 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init
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* 1 : Set to true to fuse optical flow data if available
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* 2 : Set to true to fuse vision position
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* 3 : Set to true to enable landing target
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* 4 : Set to true to fuse land detector
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* 5 : Set to true to publish AGL as local position down component
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* 6 : Set to true to enable flow gyro compensation
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* 7 : Set to true to enable baro fusion
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*
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* default (145 - GPS, baro, land detector)
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*
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* @group Local Position Estimator
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* @min 0
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* @max 255
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* @bit 0 fuse GPS, requires GPS for alt. init
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* @bit 1 fuse optical flow
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* @bit 2 fuse vision position
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* @bit 3 fuse landing target
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* @bit 4 fuse land detector
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* @bit 5 pub agl as lpos down
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||||
* @bit 6 flow gyro compensation
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||||
* @bit 7 fuse baro
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||||
*/
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PARAM_DEFINE_INT32(LPE_FUSION, 145);
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@@ -0,0 +1,400 @@
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module_name: local_position_estimator
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parameters:
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- group: Local Position Estimator
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definitions:
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LPE_EN:
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description:
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||||
short: Local position estimator enable (unsupported)
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type: boolean
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||||
default: 0
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||||
LPE_FLW_OFF_Z:
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description:
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short: Optical flow z offset from center
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type: float
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||||
default: 0.0
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||||
unit: m
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||||
min: -1
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max: 1
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||||
decimal: 3
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LPE_FLW_SCALE:
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description:
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short: Optical flow scale
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||||
type: float
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||||
default: 1.3
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||||
unit: m
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||||
min: 0.1
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||||
max: 10.0
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||||
decimal: 3
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||||
LPE_FLW_R:
|
||||
description:
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||||
short: Optical flow rotation (roll/pitch) noise gain
|
||||
type: float
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||||
default: 7.0
|
||||
unit: m/s/rad
|
||||
min: 0.1
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||||
max: 10.0
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||||
decimal: 3
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||||
LPE_FLW_RR:
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||||
description:
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||||
short: Optical flow angular velocity noise gain
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||||
type: float
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||||
default: 7.0
|
||||
unit: m/rad
|
||||
min: 0.0
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||||
max: 10.0
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||||
decimal: 3
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||||
LPE_FLW_QMIN:
|
||||
description:
|
||||
short: Optical flow minimum quality threshold
|
||||
type: int32
|
||||
default: 150
|
||||
min: 0
|
||||
max: 255
|
||||
LPE_SNR_Z:
|
||||
description:
|
||||
short: Sonar z standard deviation
|
||||
type: float
|
||||
default: 0.05
|
||||
unit: m
|
||||
min: 0.01
|
||||
max: 1
|
||||
decimal: 3
|
||||
LPE_SNR_OFF_Z:
|
||||
description:
|
||||
short: Sonar z offset from center of vehicle +down
|
||||
type: float
|
||||
default: 0.0
|
||||
unit: m
|
||||
min: -1
|
||||
max: 1
|
||||
decimal: 3
|
||||
LPE_LDR_Z:
|
||||
description:
|
||||
short: Lidar z standard deviation
|
||||
type: float
|
||||
default: 0.03
|
||||
unit: m
|
||||
min: 0.01
|
||||
max: 1
|
||||
decimal: 3
|
||||
LPE_LDR_OFF_Z:
|
||||
description:
|
||||
short: Lidar z offset from center of vehicle +down
|
||||
type: float
|
||||
default: 0.0
|
||||
unit: m
|
||||
min: -1
|
||||
max: 1
|
||||
decimal: 3
|
||||
LPE_ACC_XY:
|
||||
description:
|
||||
short: Accelerometer xy noise density
|
||||
long: |-
|
||||
Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)
|
||||
|
||||
Larger than data sheet to account for tilt error.
|
||||
type: float
|
||||
default: 0.012
|
||||
unit: m/s^2/sqrt(Hz)
|
||||
min: 1.0e-05
|
||||
max: 2
|
||||
decimal: 4
|
||||
LPE_ACC_Z:
|
||||
description:
|
||||
short: Accelerometer z noise density
|
||||
long: Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)
|
||||
type: float
|
||||
default: 0.02
|
||||
unit: m/s^2/sqrt(Hz)
|
||||
min: 1.0e-05
|
||||
max: 2
|
||||
decimal: 4
|
||||
LPE_BAR_Z:
|
||||
description:
|
||||
short: Barometric presssure altitude z standard deviation
|
||||
type: float
|
||||
default: 3.0
|
||||
unit: m
|
||||
min: 0.01
|
||||
max: 100
|
||||
decimal: 2
|
||||
LPE_GPS_DELAY:
|
||||
description:
|
||||
short: GPS delay compensaton
|
||||
type: float
|
||||
default: 0.29
|
||||
unit: s
|
||||
min: 0
|
||||
max: 0.4
|
||||
decimal: 2
|
||||
LPE_GPS_XY:
|
||||
description:
|
||||
short: Minimum GPS xy standard deviation, uses reported EPH if greater
|
||||
type: float
|
||||
default: 1.0
|
||||
unit: m
|
||||
min: 0.01
|
||||
max: 5
|
||||
decimal: 2
|
||||
LPE_GPS_Z:
|
||||
description:
|
||||
short: Minimum GPS z standard deviation, uses reported EPV if greater
|
||||
type: float
|
||||
default: 3.0
|
||||
unit: m
|
||||
min: 0.01
|
||||
max: 200
|
||||
decimal: 2
|
||||
LPE_GPS_VXY:
|
||||
description:
|
||||
short: GPS xy velocity standard deviation
|
||||
long: EPV used if greater than this value.
|
||||
type: float
|
||||
default: 0.25
|
||||
unit: m/s
|
||||
min: 0.01
|
||||
max: 2
|
||||
decimal: 3
|
||||
LPE_GPS_VZ:
|
||||
description:
|
||||
short: GPS z velocity standard deviation
|
||||
type: float
|
||||
default: 0.25
|
||||
unit: m/s
|
||||
min: 0.01
|
||||
max: 2
|
||||
decimal: 3
|
||||
LPE_EPH_MAX:
|
||||
description:
|
||||
short: Max EPH allowed for GPS initialization
|
||||
type: float
|
||||
default: 3.0
|
||||
unit: m
|
||||
min: 1.0
|
||||
max: 5.0
|
||||
decimal: 3
|
||||
LPE_EPV_MAX:
|
||||
description:
|
||||
short: Max EPV allowed for GPS initialization
|
||||
type: float
|
||||
default: 5.0
|
||||
unit: m
|
||||
min: 1.0
|
||||
max: 5.0
|
||||
decimal: 3
|
||||
LPE_VIS_DELAY:
|
||||
description:
|
||||
short: Vision delay compensation
|
||||
long: Set to zero to enable automatic compensation from measurement timestamps
|
||||
type: float
|
||||
default: 0.1
|
||||
unit: s
|
||||
min: 0
|
||||
max: 0.1
|
||||
decimal: 2
|
||||
LPE_VIS_XY:
|
||||
description:
|
||||
short: Vision xy standard deviation
|
||||
type: float
|
||||
default: 0.1
|
||||
unit: m
|
||||
min: 0.01
|
||||
max: 1
|
||||
decimal: 3
|
||||
LPE_VIS_Z:
|
||||
description:
|
||||
short: Vision z standard deviation
|
||||
type: float
|
||||
default: 0.5
|
||||
unit: m
|
||||
min: 0.01
|
||||
max: 100
|
||||
decimal: 3
|
||||
LPE_VIC_P:
|
||||
description:
|
||||
short: Vicon position standard deviation
|
||||
type: float
|
||||
default: 0.001
|
||||
unit: m
|
||||
min: 0.0001
|
||||
max: 1
|
||||
decimal: 4
|
||||
LPE_PN_P:
|
||||
description:
|
||||
short: Position propagation noise density
|
||||
long: |-
|
||||
Increase to trust measurements more.
|
||||
Decrease to trust model more.
|
||||
type: float
|
||||
default: 0.1
|
||||
unit: m/s/sqrt(Hz)
|
||||
min: 0
|
||||
max: 1
|
||||
decimal: 8
|
||||
LPE_PN_V:
|
||||
description:
|
||||
short: Velocity propagation noise density
|
||||
long: |-
|
||||
Increase to trust measurements more.
|
||||
Decrease to trust model more.
|
||||
type: float
|
||||
default: 0.1
|
||||
unit: m/s^2/sqrt(Hz)
|
||||
min: 0
|
||||
max: 1
|
||||
decimal: 8
|
||||
LPE_PN_B:
|
||||
description:
|
||||
short: Accel bias propagation noise density
|
||||
type: float
|
||||
default: 0.001
|
||||
unit: m/s^3/sqrt(Hz)
|
||||
min: 0
|
||||
max: 1
|
||||
decimal: 8
|
||||
LPE_PN_T:
|
||||
description:
|
||||
short: Terrain random walk noise density
|
||||
long: Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor
|
||||
(0.001)
|
||||
type: float
|
||||
default: 0.001
|
||||
unit: m/s/sqrt(Hz)
|
||||
min: 0
|
||||
max: 1
|
||||
decimal: 3
|
||||
LPE_T_MAX_GRADE:
|
||||
description:
|
||||
short: Terrain maximum percent grade
|
||||
long: |-
|
||||
Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg)
|
||||
|
||||
Used to calculate increased terrain random walk nosie due to movement.
|
||||
type: float
|
||||
default: 1.0
|
||||
unit: '%'
|
||||
min: 0
|
||||
max: 100
|
||||
decimal: 3
|
||||
LPE_FGYRO_HP:
|
||||
description:
|
||||
short: Flow gyro high pass filter cut off frequency
|
||||
type: float
|
||||
default: 0.001
|
||||
unit: Hz
|
||||
min: 0
|
||||
max: 2
|
||||
decimal: 3
|
||||
LPE_FAKE_ORIGIN:
|
||||
description:
|
||||
short: Enable fake global position for optical flow
|
||||
long: |-
|
||||
Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow)
|
||||
|
||||
By initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable
|
||||
type: int32
|
||||
default: 0
|
||||
min: 0
|
||||
max: 1
|
||||
LPE_LAT:
|
||||
description:
|
||||
short: Local origin latitude for nav w/o GPS
|
||||
type: float
|
||||
default: 47.397742
|
||||
unit: deg
|
||||
min: -90
|
||||
max: 90
|
||||
decimal: 8
|
||||
LPE_LON:
|
||||
description:
|
||||
short: Local origin longitude for nav w/o GPS
|
||||
type: float
|
||||
default: 8.545594
|
||||
unit: deg
|
||||
min: -180
|
||||
max: 180
|
||||
decimal: 8
|
||||
LPE_X_LP:
|
||||
description:
|
||||
short: Cut frequency for state publication
|
||||
type: float
|
||||
default: 5.0
|
||||
unit: Hz
|
||||
min: 5
|
||||
max: 1000
|
||||
decimal: 0
|
||||
LPE_VXY_PUB:
|
||||
description:
|
||||
short: Required velocity xy standard deviation to publish position
|
||||
type: float
|
||||
default: 0.3
|
||||
unit: m/s
|
||||
min: 0.01
|
||||
max: 1.0
|
||||
decimal: 3
|
||||
LPE_Z_PUB:
|
||||
description:
|
||||
short: Required z standard deviation to publish altitude/ terrain
|
||||
type: float
|
||||
default: 1.0
|
||||
unit: m
|
||||
min: 0.3
|
||||
max: 5.0
|
||||
decimal: 1
|
||||
LPE_LAND_Z:
|
||||
description:
|
||||
short: Land detector z standard deviation
|
||||
type: float
|
||||
default: 0.03
|
||||
unit: m
|
||||
min: 0.001
|
||||
max: 10.0
|
||||
decimal: 3
|
||||
LPE_LAND_VXY:
|
||||
description:
|
||||
short: Land detector xy velocity standard deviation
|
||||
type: float
|
||||
default: 0.05
|
||||
unit: m/s
|
||||
min: 0.01
|
||||
max: 10.0
|
||||
decimal: 3
|
||||
LPE_LT_COV:
|
||||
description:
|
||||
short: Minimum landing target standard covariance
|
||||
long: Minimum landing target standard covariance, uses reported covariance
|
||||
if greater
|
||||
type: float
|
||||
default: 0.0001
|
||||
unit: m^2
|
||||
min: 0.0
|
||||
max: 10
|
||||
decimal: 2
|
||||
LPE_FUSION:
|
||||
description:
|
||||
short: Integer bitmask controlling data fusion
|
||||
long: |-
|
||||
Set bits in the following positions to enable:
|
||||
0 : Set to true to fuse GPS data if available, also requires GPS for altitude init
|
||||
1 : Set to true to fuse optical flow data if available
|
||||
2 : Set to true to fuse vision position
|
||||
3 : Set to true to enable landing target
|
||||
4 : Set to true to fuse land detector
|
||||
5 : Set to true to publish AGL as local position down component
|
||||
6 : Set to true to enable flow gyro compensation
|
||||
7 : Set to true to enable baro fusion
|
||||
|
||||
default (145 - GPS, baro, land detector)
|
||||
type: bitmask
|
||||
bit:
|
||||
0: fuse GPS, requires GPS for alt. init
|
||||
1: fuse optical flow
|
||||
2: fuse vision position
|
||||
3: fuse landing target
|
||||
4: fuse land detector
|
||||
5: pub agl as lpos down
|
||||
6: flow gyro compensation
|
||||
7: fuse baro
|
||||
default: 145
|
||||
min: 0
|
||||
max: 255
|
||||
Reference in New Issue
Block a user