From 629f7ba15bb064999fa10fa1f98cd70e5caf96e9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Tue, 23 Mar 2021 14:38:15 +0100 Subject: [PATCH] params: ensure short description is only a single line So a UI can display it properly --- src/drivers/rpm/pcf8583/parameters.c | 3 ++- .../telemetry/iridiumsbd/iridiumsbd_params.c | 3 ++- src/lib/parameters/px4params/srcparser.py | 2 ++ .../attitude_estimator_q_params.c | 4 +-- src/modules/commander/commander_params.c | 2 ++ .../failure_detector_params.c | 5 ++-- src/modules/ekf2/ekf2_params.c | 27 ++++++++++++++++--- .../fw_pos_control_l1_params.c | 1 + .../runway_takeoff/runway_takeoff_params.c | 10 +++++-- src/modules/local_position_estimator/params.c | 5 +++- .../mc_att_control/mc_att_control_params.c | 1 + .../mc_pos_control/mc_pos_control_params.c | 3 +++ .../mc_rate_control/mc_rate_control_params.c | 3 +++ src/modules/navigator/follow_target_params.c | 1 + .../rover_pos_control_params.c | 1 + src/modules/sensors/sensor_params_flow.c | 1 + src/modules/sensors/sensor_params_mag0.c | 12 ++++++--- src/modules/sensors/sensor_params_mag1.c | 12 ++++++--- src/modules/sensors/sensor_params_mag2.c | 12 ++++++--- src/modules/sensors/sensor_params_mag3.c | 12 ++++++--- src/modules/sih/sih_params.c | 1 + .../battery_simulator_params.c | 5 ++-- src/modules/vmount/vmount_params.c | 12 ++++++--- .../vtol_att_control/standard_params.c | 8 +++++- .../vtol_att_control_params.c | 4 +++ 25 files changed, 120 insertions(+), 30 deletions(-) diff --git a/src/drivers/rpm/pcf8583/parameters.c b/src/drivers/rpm/pcf8583/parameters.c index b1d7ff779f..1ed06b50fb 100644 --- a/src/drivers/rpm/pcf8583/parameters.c +++ b/src/drivers/rpm/pcf8583/parameters.c @@ -33,7 +33,8 @@ /** * PCF8583 rotorfreq (i2c) pool interval - * How often the sensor is readout. + * + * Determines how often the sensor is read out. * * @reboot_required true * @group Sensors diff --git a/src/drivers/telemetry/iridiumsbd/iridiumsbd_params.c b/src/drivers/telemetry/iridiumsbd/iridiumsbd_params.c index 483dc5c527..4f198b0001 100644 --- a/src/drivers/telemetry/iridiumsbd/iridiumsbd_params.c +++ b/src/drivers/telemetry/iridiumsbd/iridiumsbd_params.c @@ -20,7 +20,8 @@ PARAM_DEFINE_INT32(ISBD_READ_INT, 0); PARAM_DEFINE_INT32(ISBD_SBD_TIMEOUT, 60); /** - * Time [ms] the Iridium driver will wait for additional mavlink messages to combine them into one SBD message + * Time the Iridium driver will wait for additional mavlink messages to combine them into one SBD message + * * Value 0 turns the functionality off * * @unit ms diff --git a/src/lib/parameters/px4params/srcparser.py b/src/lib/parameters/px4params/srcparser.py index 79261edab0..b601b90b23 100644 --- a/src/lib/parameters/px4params/srcparser.py +++ b/src/lib/parameters/px4params/srcparser.py @@ -305,6 +305,8 @@ class SourceParser(object): group = "Miscellaneous" if state == "comment-processed": if short_desc is not None: + if '\n' in short_desc: + raise Exception('short description must be a single line (parameter: {:})'.format(name)) param.SetField("short_desc", self.re_remove_dots.sub('', short_desc)) if long_desc is not None: long_desc = self.re_remove_carriage_return.sub(' ', long_desc) diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_params.c b/src/modules/attitude_estimator_q/attitude_estimator_q_params.c index aaabf754a4..0cea30cda2 100644 --- a/src/modules/attitude_estimator_q/attitude_estimator_q_params.c +++ b/src/modules/attitude_estimator_q/attitude_estimator_q_params.c @@ -103,6 +103,7 @@ PARAM_DEFINE_INT32(ATT_MAG_DECL_A, 1); /** * External heading usage mode (from Motion capture/Vision) + * * Set to 1 to use heading estimate from vision. * Set to 2 to use heading from motion capture. * @@ -116,8 +117,7 @@ PARAM_DEFINE_INT32(ATT_MAG_DECL_A, 1); PARAM_DEFINE_INT32(ATT_EXT_HDG_M, 0); /** - * Acceleration compensation based on GPS - * velocity. + * Acceleration compensation based on GPS velocity. * * @group Attitude Q estimator * @boolean diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index 9e6ad34e9e..9965946bbc 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -341,6 +341,7 @@ PARAM_DEFINE_INT32(COM_LOW_BAT_ACT, 0); /** * Time-out to wait when offboard connection is lost before triggering offboard lost action. + * * See COM_OBL_ACT and COM_OBL_RC_ACT to configure action. * * @group Commander @@ -595,6 +596,7 @@ PARAM_DEFINE_FLOAT(COM_ARM_IMU_GYR, 0.25f); /** * Maximum magnetic field inconsistency between units that will allow arming + * * Set -1 to disable the check. * * @group Commander diff --git a/src/modules/commander/failure_detector/failure_detector_params.c b/src/modules/commander/failure_detector/failure_detector_params.c index 1cdf726062..e841efc338 100644 --- a/src/modules/commander/failure_detector/failure_detector_params.c +++ b/src/modules/commander/failure_detector/failure_detector_params.c @@ -107,9 +107,9 @@ PARAM_DEFINE_FLOAT(FD_FAIL_R_TTRI, 0.3); PARAM_DEFINE_FLOAT(FD_FAIL_P_TTRI, 0.3); /** - * Enable PWM input on AUX5 or MAIN5 (depending on board) for engaging failsafe from an external - * automatic trigger system (ATS). + * Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS). * + * Enabled on either AUX5 or MAIN5 depending on board. * External ATS is required by ASTM F3322-18. * * @boolean @@ -132,6 +132,7 @@ PARAM_DEFINE_INT32(FD_EXT_ATS_TRIG, 1900); /** * Enable checks on ESCs that report their arming state. + * * If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state. * Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle. * diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index 6b8dc53826..661d02e6d9 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/src/modules/ekf2/ekf2_params.c @@ -41,6 +41,7 @@ /** * Minimum time of arrival delta between non-IMU observations before data is downsampled. + * * Baro and Magnetometer data will be averaged before downsampling, other data will be point sampled resulting in loss of information. * * @group EKF2 @@ -89,6 +90,7 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_DELAY, 110); /** * Optical flow measurement delay relative to IMU measurements + * * Assumes measurement is timestamped at trailing edge of integration period * * @group EKF2 @@ -493,6 +495,7 @@ PARAM_DEFINE_INT32(EKF2_MAG_TYPE, 0); /** * Horizontal acceleration threshold used by automatic selection of magnetometer fusion method. + * * This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion. * * @group EKF2 @@ -505,6 +508,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_ACCLIM, 0.5f); /** * Yaw rate threshold used by automatic selection of magnetometer fusion method. + * * This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion. * * @group EKF2 @@ -945,7 +949,9 @@ PARAM_DEFINE_FLOAT(EKF2_EV_POS_Y, 0.0f); PARAM_DEFINE_FLOAT(EKF2_EV_POS_Z, 0.0f); /** -* Airspeed fusion threshold. A value of zero will deactivate airspeed fusion. Any other positive +* Airspeed fusion threshold. +* +* A value of zero will deactivate airspeed fusion. Any other positive * value will determine the minimum airspeed which will still be fused. Set to about 90% of the vehicles stall speed. * Both airspeed fusion and sideslip fusion must be active for the EKF to continue navigating after loss of GPS. * Use EKF2_FUSE_BETA to activate sideslip fusion. @@ -1122,6 +1128,7 @@ PARAM_DEFINE_FLOAT(EKF2_EVV_GATE, 3.0f); /** * Gate size for vision position fusion + * * Sets the number of standard deviations used by the innovation consistency test. * @group EKF2 * @min 1.0 @@ -1132,7 +1139,8 @@ PARAM_DEFINE_FLOAT(EKF2_EVP_GATE, 5.0f); /** * Specific drag force observation noise variance used by the multi-rotor specific drag force model. - * Increasing it makes the multi-rotor wind estimates adjust more slowly. + * + * Increasing this makes the multi-rotor wind estimates adjust more slowly. * * @group EKF2 * @min 0.5 @@ -1144,6 +1152,7 @@ PARAM_DEFINE_FLOAT(EKF2_DRAG_NOISE, 2.5f); /** * X-axis ballistic coefficient used by the multi-rotor specific drag force model. + * * This should be adjusted to minimise variance of the X-axis drag specific force innovation sequence. * * @group EKF2 @@ -1156,6 +1165,7 @@ PARAM_DEFINE_FLOAT(EKF2_BCOEF_X, 25.0f); /** * Y-axis ballistic coefficient used by the multi-rotor specific drag force model. + * * This should be adjusted to minimise variance of the Y-axis drag specific force innovation sequence. * * @group EKF2 @@ -1179,6 +1189,7 @@ PARAM_DEFINE_FLOAT(EKF2_ASPD_MAX, 20.0f); /** * Static pressure position error coefficient for the positive X axis + * * This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. * If the baro height estimate rises during forward flight, then this will be a negative number. * @@ -1191,6 +1202,7 @@ PARAM_DEFINE_FLOAT(EKF2_PCOEF_XP, 0.0f); /** * Static pressure position error coefficient for the negative X axis. + * * This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. * If the baro height estimate rises during backwards flight, then this will be a negative number. * @@ -1203,6 +1215,7 @@ PARAM_DEFINE_FLOAT(EKF2_PCOEF_XN, 0.0f); /** * Pressure position error coefficient for the positive Y axis. + * * This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the positive Y (RH) body axis. * If the baro height estimate rises during sideways flight to the right, then this will be a negative number. * @@ -1215,6 +1228,7 @@ PARAM_DEFINE_FLOAT(EKF2_PCOEF_YP, 0.0f); /** * Pressure position error coefficient for the negative Y axis. + * * This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the negative Y (LH) body axis. * If the baro height estimate rises during sideways flight to the left, then this will be a negative number. * @@ -1227,6 +1241,7 @@ PARAM_DEFINE_FLOAT(EKF2_PCOEF_YN, 0.0f); /** * Static pressure position error coefficient for the Z axis. + * * This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Z body axis. * * @group EKF2 @@ -1237,7 +1252,9 @@ PARAM_DEFINE_FLOAT(EKF2_PCOEF_YN, 0.0f); PARAM_DEFINE_FLOAT(EKF2_PCOEF_Z, 0.0f); /** - * Accelerometer bias learning limit. The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value. + * Accelerometer bias learning limit. + * + * The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value. * * @group EKF2 * @min 0.0 @@ -1249,6 +1266,7 @@ PARAM_DEFINE_FLOAT(EKF2_ABL_LIM, 0.4f); /** * Maximum IMU accel magnitude that allows IMU bias learning. + * * If the magnitude of the IMU accelerometer vector exceeds this value, the EKF delta velocity state estimation will be inhibited. * This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates. * @@ -1262,6 +1280,7 @@ PARAM_DEFINE_FLOAT(EKF2_ABL_ACCLIM, 25.0f); /** * Maximum IMU gyro angular rate magnitude that allows IMU bias learning. + * * If the magnitude of the IMU angular rate vector exceeds this value, the EKF delta velocity state estimation will be inhibited. * This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates. * @@ -1275,6 +1294,7 @@ PARAM_DEFINE_FLOAT(EKF2_ABL_GYRLIM, 3.0f); /** * Time constant used by acceleration and angular rate magnitude checks used to inhibit delta velocity bias learning. + * * The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. * This parameter controls the time constant of the decay. * @@ -1342,6 +1362,7 @@ PARAM_DEFINE_INT32(EKF2_SYNT_MAG_Z, 0); /** * Default value of true airspeed used in EKF-GSF AHRS calculation. + * * If no airspeed measurements are avalable, the EKF-GSF AHRS calculation will assume this value of true airspeed when compensating for centripetal acceleration during turns. Set to zero to disable centripetal acceleration compensation during fixed wing flight modes. * * @group EKF2 diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 26856cb788..363e5bbb1e 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -321,6 +321,7 @@ PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f); /** * Landing heading hold horizontal distance. + * * Set to 0 to disable heading hold. * * @unit m diff --git a/src/modules/fw_pos_control_l1/runway_takeoff/runway_takeoff_params.c b/src/modules/fw_pos_control_l1/runway_takeoff/runway_takeoff_params.c index 4525f294e4..5f165d06ca 100644 --- a/src/modules/fw_pos_control_l1/runway_takeoff/runway_takeoff_params.c +++ b/src/modules/fw_pos_control_l1/runway_takeoff/runway_takeoff_params.c @@ -62,6 +62,7 @@ PARAM_DEFINE_INT32(RWTO_HDG, 0); /** * Altitude AGL at which we have enough ground clearance to allow some roll. + * * Until RWTO_NAV_ALT is reached the plane is held level and only * rudder is used to keep the heading (see RWTO_HDG). This should be below * FW_CLMBOUT_DIFF if FW_CLMBOUT_DIFF > 0. @@ -77,7 +78,8 @@ PARAM_DEFINE_FLOAT(RWTO_NAV_ALT, 5.0); /** * Max throttle during runway takeoff. - * (Can be used to test taxi on runway) + * + * Can be used to test taxi on runway * * @unit norm * @min 0.0 @@ -90,6 +92,7 @@ PARAM_DEFINE_FLOAT(RWTO_MAX_THR, 1.0); /** * Pitch setpoint during taxi / before takeoff airspeed is reached. + * * A taildragger with steerable wheel might need to pitch up * a little to keep its wheel on the ground before airspeed * to takeoff is reached. @@ -105,6 +108,7 @@ PARAM_DEFINE_FLOAT(RWTO_PSP, 0.0); /** * Max pitch during takeoff. + * * Fixed-wing settings are used if set to 0. Note that there is also a minimum * pitch of 10 degrees during takeoff, so this must be larger if set. * @@ -119,6 +123,7 @@ PARAM_DEFINE_FLOAT(RWTO_MAX_PITCH, 20.0); /** * Max roll during climbout. + * * Roll is limited during climbout to ensure enough lift and prevents aggressive * navigation before we're on a safe height. * @@ -132,7 +137,8 @@ PARAM_DEFINE_FLOAT(RWTO_MAX_PITCH, 20.0); PARAM_DEFINE_FLOAT(RWTO_MAX_ROLL, 25.0); /** - * Min. airspeed scaling factor for takeoff. + * Min airspeed scaling factor for takeoff. + * * Pitch up will be commanded when the following airspeed is reached: * FW_AIRSPD_MIN * RWTO_AIRSPD_SCL * diff --git a/src/modules/local_position_estimator/params.c b/src/modules/local_position_estimator/params.c index 9c0c83009c..a24a499c29 100644 --- a/src/modules/local_position_estimator/params.c +++ b/src/modules/local_position_estimator/params.c @@ -175,6 +175,7 @@ PARAM_DEFINE_FLOAT(LPE_GPS_Z, 3.0f); /** * GPS xy velocity standard deviation. + * * EPV used if greater than this value. * * @group Local Position Estimator @@ -316,6 +317,7 @@ PARAM_DEFINE_FLOAT(LPE_PN_T, 0.001f); /** * 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. * * @group Local Position Estimator @@ -339,7 +341,8 @@ PARAM_DEFINE_FLOAT(LPE_FGYRO_HP, 0.001f); /** * 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 + * + * By initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable * * @group Local Position Estimator * @min 0 diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 7dc1ff9a81..f45e856942 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -148,6 +148,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 200.0f); /** * Manual tilt input filter time constant + * * Setting this parameter to 0 disables the filter * * @unit s diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 666189b0f3..aaff96e00b 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -299,6 +299,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.0f); /** * Maximum horizontal velocity setpoint for manual controlled mode + * * If velocity setpoint larger than MPC_XY_VEL_MAX is set, then * the setpoint will be capped to MPC_XY_VEL_MAX * @@ -364,6 +365,7 @@ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f); /** * Maximum horizontal position mode velocity when close to ground/home altitude + * * Set the value higher than the otherwise expected maximum to disable any slowdown. * * @unit m/s @@ -423,6 +425,7 @@ PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 150.0f); /** * Manual yaw rate input filter time constant + * * Setting this parameter to 0 disables the filter * * @unit s diff --git a/src/modules/mc_rate_control/mc_rate_control_params.c b/src/modules/mc_rate_control/mc_rate_control_params.c index df6f98e1cd..4bc092db60 100644 --- a/src/modules/mc_rate_control/mc_rate_control_params.c +++ b/src/modules/mc_rate_control/mc_rate_control_params.c @@ -283,6 +283,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_K, 1.0f); /** * Max acro roll rate + * * default: 2 turns per second * * @unit deg/s @@ -296,6 +297,7 @@ PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 720.0f); /** * Max acro pitch rate + * * default: 2 turns per second * * @unit deg/s @@ -309,6 +311,7 @@ PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 720.0f); /** * Max acro yaw rate + * * default 1.5 turns per second * * @unit deg/s diff --git a/src/modules/navigator/follow_target_params.c b/src/modules/navigator/follow_target_params.c index facfc9732e..4dc50bf6e5 100644 --- a/src/modules/navigator/follow_target_params.c +++ b/src/modules/navigator/follow_target_params.c @@ -78,6 +78,7 @@ PARAM_DEFINE_INT32(NAV_FT_FS, 1); /** * Dynamic filtering algorithm responsiveness to target movement + * * lower numbers increase the responsiveness to changing long lat * but also ignore less noise * diff --git a/src/modules/rover_pos_control/rover_pos_control_params.c b/src/modules/rover_pos_control/rover_pos_control_params.c index b3120f50a7..6458fb1fea 100644 --- a/src/modules/rover_pos_control/rover_pos_control_params.c +++ b/src/modules/rover_pos_control/rover_pos_control_params.c @@ -262,6 +262,7 @@ PARAM_DEFINE_FLOAT(GND_SPEED_MAX, 10.0f); /** * Maximum turn angle for Ackerman steering. + * * At a control output of 0, the steering wheels are at 0 radians. * At a control output of 1, the steering wheels are at GND_MAX_ANG radians. * diff --git a/src/modules/sensors/sensor_params_flow.c b/src/modules/sensors/sensor_params_flow.c index 618f536408..b8a2b7574e 100644 --- a/src/modules/sensors/sensor_params_flow.c +++ b/src/modules/sensors/sensor_params_flow.c @@ -87,6 +87,7 @@ PARAM_DEFINE_FLOAT(SENS_FLOW_MAXHGT, 3.0f); /** * Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor. + * * Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and * control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground * is less than 50% of this value. diff --git a/src/modules/sensors/sensor_params_mag0.c b/src/modules/sensors/sensor_params_mag0.c index 63bad16b22..170885da14 100644 --- a/src/modules/sensors/sensor_params_mag0.c +++ b/src/modules/sensors/sensor_params_mag0.c @@ -195,9 +195,11 @@ PARAM_DEFINE_FLOAT(CAL_MAG0_YODIAG, 0.0f); PARAM_DEFINE_FLOAT(CAL_MAG0_ZODIAG, 0.0f); /** +* X Axis throttle compensation for Mag 0 +* * Coefficient describing linear relationship between * X component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP +* and either current or throttle depending on value of CAL_MAG_COMP_TYP. * Unit for throttle-based compensation is [G] and * for current-based compensation [G/kA] * @@ -207,9 +209,11 @@ PARAM_DEFINE_FLOAT(CAL_MAG0_ZODIAG, 0.0f); PARAM_DEFINE_FLOAT(CAL_MAG0_XCOMP, 0.0f); /** +* Y Axis throttle compensation for Mag 0 +* * Coefficient describing linear relationship between * Y component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP +* and either current or throttle depending on value of CAL_MAG_COMP_TYP. * Unit for throttle-based compensation is [G] and * for current-based compensation [G/kA] * @@ -219,9 +223,11 @@ PARAM_DEFINE_FLOAT(CAL_MAG0_XCOMP, 0.0f); PARAM_DEFINE_FLOAT(CAL_MAG0_YCOMP, 0.0f); /** +* Z Axis throttle compensation for Mag 0 +* * Coefficient describing linear relationship between * Z component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP +* and either current or throttle depending on value of CAL_MAG_COMP_TYP. * Unit for throttle-based compensation is [G] and * for current-based compensation [G/kA] * diff --git a/src/modules/sensors/sensor_params_mag1.c b/src/modules/sensors/sensor_params_mag1.c index 64c8dc95b9..5ad5865ec6 100644 --- a/src/modules/sensors/sensor_params_mag1.c +++ b/src/modules/sensors/sensor_params_mag1.c @@ -195,9 +195,11 @@ PARAM_DEFINE_FLOAT(CAL_MAG1_YODIAG, 0.0f); PARAM_DEFINE_FLOAT(CAL_MAG1_ZODIAG, 0.0f); /** +* X Axis throttle compensation for Mag 1 +* * Coefficient describing linear relationship between * X component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP +* and either current or throttle depending on value of CAL_MAG_COMP_TYP. * Unit for throttle-based compensation is [G] and * for current-based compensation [G/kA] * @@ -207,9 +209,11 @@ PARAM_DEFINE_FLOAT(CAL_MAG1_ZODIAG, 0.0f); PARAM_DEFINE_FLOAT(CAL_MAG1_XCOMP, 0.0f); /** +* Y Axis throttle compensation for Mag 1 +* * Coefficient describing linear relationship between * Y component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP +* and either current or throttle depending on value of CAL_MAG_COMP_TYP. * Unit for throttle-based compensation is [G] and * for current-based compensation [G/kA] * @@ -219,9 +223,11 @@ PARAM_DEFINE_FLOAT(CAL_MAG1_XCOMP, 0.0f); PARAM_DEFINE_FLOAT(CAL_MAG1_YCOMP, 0.0f); /** +* Z Axis throttle compensation for Mag 1 +* * Coefficient describing linear relationship between * Z component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP +* and either current or throttle depending on value of CAL_MAG_COMP_TYP. * Unit for throttle-based compensation is [G] and * for current-based compensation [G/kA] * diff --git a/src/modules/sensors/sensor_params_mag2.c b/src/modules/sensors/sensor_params_mag2.c index 12297a48f3..d2f7b5cdec 100644 --- a/src/modules/sensors/sensor_params_mag2.c +++ b/src/modules/sensors/sensor_params_mag2.c @@ -195,9 +195,11 @@ PARAM_DEFINE_FLOAT(CAL_MAG2_YODIAG, 0.0f); PARAM_DEFINE_FLOAT(CAL_MAG2_ZODIAG, 0.0f); /** +* X Axis throttle compensation for Mag 2 +* * Coefficient describing linear relationship between * X component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP +* and either current or throttle depending on value of CAL_MAG_COMP_TYP. * Unit for throttle-based compensation is [G] and * for current-based compensation [G/kA] * @@ -207,9 +209,11 @@ PARAM_DEFINE_FLOAT(CAL_MAG2_ZODIAG, 0.0f); PARAM_DEFINE_FLOAT(CAL_MAG2_XCOMP, 0.0f); /** +* Y Axis throttle compensation for Mag 2 +* * Coefficient describing linear relationship between * Y component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP +* and either current or throttle depending on value of CAL_MAG_COMP_TYP. * Unit for throttle-based compensation is [G] and * for current-based compensation [G/kA] * @@ -219,9 +223,11 @@ PARAM_DEFINE_FLOAT(CAL_MAG2_XCOMP, 0.0f); PARAM_DEFINE_FLOAT(CAL_MAG2_YCOMP, 0.0f); /** +* Z Axis throttle compensation for Mag 2 +* * Coefficient describing linear relationship between * Z component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP +* and either current or throttle depending on value of CAL_MAG_COMP_TYP. * Unit for throttle-based compensation is [G] and * for current-based compensation [G/kA] * diff --git a/src/modules/sensors/sensor_params_mag3.c b/src/modules/sensors/sensor_params_mag3.c index 9930ac0260..56f070f129 100644 --- a/src/modules/sensors/sensor_params_mag3.c +++ b/src/modules/sensors/sensor_params_mag3.c @@ -195,9 +195,11 @@ PARAM_DEFINE_FLOAT(CAL_MAG3_YODIAG, 0.0f); PARAM_DEFINE_FLOAT(CAL_MAG3_ZODIAG, 0.0f); /** +* X Axis throttle compensation for Mag 3 +* * Coefficient describing linear relationship between * X component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP +* and either current or throttle depending on value of CAL_MAG_COMP_TYP. * Unit for throttle-based compensation is [G] and * for current-based compensation [G/kA] * @@ -207,9 +209,11 @@ PARAM_DEFINE_FLOAT(CAL_MAG3_ZODIAG, 0.0f); PARAM_DEFINE_FLOAT(CAL_MAG3_XCOMP, 0.0f); /** +* Y Axis throttle compensation for Mag 3 +* * Coefficient describing linear relationship between * Y component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP +* and either current or throttle depending on value of CAL_MAG_COMP_TYP. * Unit for throttle-based compensation is [G] and * for current-based compensation [G/kA] * @@ -219,9 +223,11 @@ PARAM_DEFINE_FLOAT(CAL_MAG3_XCOMP, 0.0f); PARAM_DEFINE_FLOAT(CAL_MAG3_YCOMP, 0.0f); /** +* Z Axis throttle compensation for Mag 3 +* * Coefficient describing linear relationship between * Z component of magnetometer in body frame axis -* and either current or throttle depending on value of CAL_MAG_COMP_TYP +* and either current or throttle depending on value of CAL_MAG_COMP_TYP. * Unit for throttle-based compensation is [G] and * for current-based compensation [G/kA] * diff --git a/src/modules/sih/sih_params.c b/src/modules/sih/sih_params.c index a5e9c9a60f..92542715dc 100644 --- a/src/modules/sih/sih_params.c +++ b/src/modules/sih/sih_params.c @@ -418,6 +418,7 @@ PARAM_DEFINE_FLOAT(SIH_DISTSNSR_MAX, 100.0f); /** * if >= 0 the distance sensor measures will be overrided by this value + * * Absolute value superior to 10000 will disable distance sensor * * @unit m diff --git a/src/modules/simulator/battery_simulator/battery_simulator_params.c b/src/modules/simulator/battery_simulator/battery_simulator_params.c index a77fe0e9a4..d634714cf3 100644 --- a/src/modules/simulator/battery_simulator/battery_simulator_params.c +++ b/src/modules/simulator/battery_simulator/battery_simulator_params.c @@ -44,8 +44,9 @@ PARAM_DEFINE_FLOAT(SIM_BAT_DRAIN, 60); /** - * Simulator Battery minimal percentage. Can be used to alter - * the battery level during SITL- or HITL-simulation on the fly. + * Simulator Battery minimal percentage. + * + * Can be used to alter the battery level during SITL- or HITL-simulation on the fly. * Particularly useful for testing different low-battery behaviour. * * @min 0 diff --git a/src/modules/vmount/vmount_params.c b/src/modules/vmount/vmount_params.c index 565b729db2..18dfa26b0a 100644 --- a/src/modules/vmount/vmount_params.c +++ b/src/modules/vmount/vmount_params.c @@ -94,6 +94,7 @@ PARAM_DEFINE_INT32(MNT_MAV_COMPID, 154); /** * Mixer value for selecting normal mode +* * if required by the gimbal (only in AUX output mode) * * @min -1.0 @@ -105,6 +106,7 @@ PARAM_DEFINE_FLOAT(MNT_OB_NORM_MODE, -1.0f); /** * Mixer value for selecting a locking mode +* * if required for the gimbal (only in AUX output mode) * * @min -1.0 @@ -163,9 +165,11 @@ PARAM_DEFINE_INT32(MNT_MAN_PITCH, 0); PARAM_DEFINE_INT32(MNT_MAN_YAW, 0); /** -* Stabilize the mount (set to true for servo gimbal, false for passthrough). -* (This is required for a gimbal which is not capable of stabilizing itself -* and relies on the IMU's attitude estimation.) +* Stabilize the mount +* +* Set to true for servo gimbal, false for passthrough. +* This is required for a gimbal which is not capable of stabilizing itself +* and relies on the IMU's attitude estimation. * * @value 0 Disable * @value 1 Stabilize all axis @@ -238,6 +242,7 @@ PARAM_DEFINE_FLOAT(MNT_OFF_YAW, 0.0f); /** * Angular pitch rate for manual input in degrees/second. + * * Full stick input [-1..1] translats to [-pitch rate..pitch rate]. * * @min 1.0 @@ -248,6 +253,7 @@ PARAM_DEFINE_FLOAT(MNT_RATE_PITCH, 30.0f); /** * Angular yaw rate for manual input in degrees/second. + * * Full stick input [-1..1] translats to [-yaw rate..yaw rate]. * * @min 1.0 diff --git a/src/modules/vtol_att_control/standard_params.c b/src/modules/vtol_att_control/standard_params.c index 37ac140eae..633efa59d1 100644 --- a/src/modules/vtol_att_control/standard_params.c +++ b/src/modules/vtol_att_control/standard_params.c @@ -42,6 +42,7 @@ /** * Enable/disable usage of fixed-wing actuators in hover to generate forward force (instead of pitching down). + * * This technique can be used to avoid the plane having to pitch down in order to move forward. * This prevents large, negative lift values being created when facing strong winds. * Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). @@ -62,7 +63,8 @@ PARAM_DEFINE_INT32(VT_FWD_THRUST_EN, 0); /** * Maximum allowed angle the vehicle is allowed to pitch down to generate forward force - * when fixed-wing forward actuation is active (seeVT_FW_TRHUST_EN). + * + * When fixed-wing forward actuation is active (see VT_FW_TRHUST_EN). * If demanded down pitch exceeds this limmit, the fixed-wing forward actuators are used instead. * * @min 0.0 @@ -98,6 +100,7 @@ PARAM_DEFINE_FLOAT(VT_B_TRANS_RAMP, 3.0f); /** * Output on airbrakes channel during back transition + * * Used for airbrakes or with ESCs that have reverse thrust enabled on a seperate channel * Airbrakes need to be enables for your selected model/mixer * @@ -112,6 +115,7 @@ PARAM_DEFINE_FLOAT(VT_B_REV_OUT, 0.0f); /** * Delay in seconds before applying back transition throttle + * * Set this to a value greater than 0 to give the motor time to spin down. * * unit s @@ -124,6 +128,8 @@ PARAM_DEFINE_FLOAT(VT_B_REV_OUT, 0.0f); PARAM_DEFINE_FLOAT(VT_B_REV_DEL, 0.0f); /** + * Pusher throttle ramp up window + * * Defines the time window during which the pusher throttle will be ramped up linearly to VT_F_TRANS_THR during a transition * to fixed wing mode. Zero or negative values will produce an instant throttle rise to VT_F_TRANS_THR. * diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c index 03ab1e6024..f88b2a0cda 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -116,7 +116,9 @@ PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 4.0f); /** * Target throttle value for the transition to fixed wing flight. + * * standard vtol: pusher + * * tailsitter, tiltrotor: main throttle * * @min 0.0 @@ -129,7 +131,9 @@ PARAM_DEFINE_FLOAT(VT_F_TRANS_THR, 1.0f); /** * Target throttle value for the transition to hover flight. + * * standard vtol: pusher + * * tailsitter, tiltrotor: main throttle * * Note for standard vtol: