Merge pull request #4078 from dagar/master

more param metadata cleanup

Tools/px4params/srcparser.py

@@ -133,7 +133,7 @@ class SourceParser(object):
     re_remove_dots = re.compile(r'\.+$')
     re_remove_carriage_return = re.compile('\n+')
 
-    valid_tags = set(["group", "board", "min", "max", "unit", "decimal", "increment", "reboot_required", "value"])
+    valid_tags = set(["group", "board", "min", "max", "unit", "decimal", "increment", "reboot_required", "value", "boolean"])
 
     # Order of parameter groups
     priority = {

src/drivers/camera_trigger/camera_trigger_params.c

@@ -58,7 +58,6 @@ PARAM_DEFINE_FLOAT(TRIG_INTERVAL, 40.0f);
  *
  * This parameter sets the polarity of the trigger (0 = ACTIVE_LOW, 1 = ACTIVE_HIGH )
  *
- * @unit enum
  * @value 0 ACTIVE_LOW
  * @value 1 ACTIVE_HIGH
  * @min 0
@@ -82,11 +81,10 @@ PARAM_DEFINE_FLOAT(TRIG_ACT_TIME, 0.5f);
  *
  * 0 disables the trigger, 1 sets it to enabled on command, 2 always on, 3 distance based, 4 distance based enabled on command
  *
- * @unit enum
+ * @value 0 Disable
- * @value 0 disable
+ * @value 1 CMD
- * @value 1 cmd
+ * @value 2 Always
- * @value 2 always
+ * @value 3 Distance
- * @value 3 distance
  * @min 0
  * @max 4
  * @group Camera trigger

src/drivers/gimbal/gimbal_params.c

@@ -48,7 +48,7 @@
  *
  * If set to 1, mount mode will be enforced.
  *
- * @unit boolean
+ * @boolean
  * @group Gimbal
  */
 PARAM_DEFINE_INT32(GMB_USE_MNT, 0);
@@ -63,11 +63,10 @@ PARAM_DEFINE_INT32(GMB_USE_MNT, 0);
  * Switch on means the gimbal can move freely, and landing gear
  * will be retracted if applicable.
  *
- * @unit enum
+ * @value 0 Disable
- * @value 0 disable
+ * @value 1 AUX1
- * @value 1 aux1
+ * @value 2 AUX2
- * @value 2 aux2
+ * @value 3 AUX3
- * @value 3 aux3
  * @min 0
  * @max 3
  * @group Gimbal

src/drivers/mkblctrl/mkblctrl_params.c

@@ -46,7 +46,6 @@
 /**
  * Enables testmode (Identify) of MKBLCTRL Driver
  *
- * @unit enum
  * @value 0 Disabled
  * @value 1 Enabled
  * @min 0

src/drivers/px4fmu/px4fmu_params.c

@@ -48,7 +48,7 @@
  * Set to 1 to invert the channel, 0 for default direction.
  *
  * @reboot_required true
- * @unit boolean
+ * @boolean
  * @group PWM Outputs
  */
 PARAM_DEFINE_INT32(PWM_AUX_REV1, 0);
@@ -59,7 +59,7 @@ PARAM_DEFINE_INT32(PWM_AUX_REV1, 0);
  * Set to 1 to invert the channel, 0 for default direction.
  *
  * @reboot_required true
- * @unit boolean
+ * @boolean
  * @group PWM Outputs
  */
 PARAM_DEFINE_INT32(PWM_AUX_REV2, 0);
@@ -70,7 +70,7 @@ PARAM_DEFINE_INT32(PWM_AUX_REV2, 0);
  * Set to 1 to invert the channel, 0 for default direction.
  *
  * @reboot_required true
- * @unit boolean
+ * @boolean
  * @group PWM Outputs
  */
 PARAM_DEFINE_INT32(PWM_AUX_REV3, 0);
@@ -81,7 +81,7 @@ PARAM_DEFINE_INT32(PWM_AUX_REV3, 0);
  * Set to 1 to invert the channel, 0 for default direction.
  *
  * @reboot_required true
- * @unit boolean
+ * @boolean
  * @group PWM Outputs
  */
 PARAM_DEFINE_INT32(PWM_AUX_REV4, 0);
@@ -92,7 +92,7 @@ PARAM_DEFINE_INT32(PWM_AUX_REV4, 0);
  * Set to 1 to invert the channel, 0 for default direction.
  *
  * @reboot_required true
- * @unit boolean
+ * @boolean
  * @group PWM Outputs
  */
 PARAM_DEFINE_INT32(PWM_AUX_REV5, 0);
@@ -103,7 +103,7 @@ PARAM_DEFINE_INT32(PWM_AUX_REV5, 0);
  * Set to 1 to invert the channel, 0 for default direction.
  *
  * @reboot_required true
- * @unit boolean
+ * @boolean
  * @group PWM Outputs
  */
 PARAM_DEFINE_INT32(PWM_AUX_REV6, 0);

src/drivers/px4io/px4io_params.c

@@ -48,7 +48,7 @@
  * Set to 1 to invert the channel, 0 for default direction.
  *
  * @reboot_required true
- * @unit boolean
+ * @boolean
  * @group PWM Outputs
  */
 PARAM_DEFINE_INT32(PWM_MAIN_REV1, 0);
@@ -59,7 +59,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV1, 0);
  * Set to 1 to invert the channel, 0 for default direction.
  *
  * @reboot_required true
- * @unit boolean
+ * @boolean
  * @group PWM Outputs
  */
 PARAM_DEFINE_INT32(PWM_MAIN_REV2, 0);
@@ -70,7 +70,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV2, 0);
  * Set to 1 to invert the channel, 0 for default direction.
  *
  * @reboot_required true
- * @unit boolean
+ * @boolean
  * @group PWM Outputs
  */
 PARAM_DEFINE_INT32(PWM_MAIN_REV3, 0);
@@ -81,7 +81,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV3, 0);
  * Set to 1 to invert the channel, 0 for default direction.
  *
  * @reboot_required true
- * @unit boolean
+ * @boolean
  * @group PWM Outputs
  */
 PARAM_DEFINE_INT32(PWM_MAIN_REV4, 0);
@@ -92,7 +92,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV4, 0);
  * Set to 1 to invert the channel, 0 for default direction.
  *
  * @reboot_required true
- * @unit boolean
+ * @boolean
  * @group PWM Outputs
  */
 PARAM_DEFINE_INT32(PWM_MAIN_REV5, 0);
@@ -103,7 +103,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV5, 0);
  * Set to 1 to invert the channel, 0 for default direction.
  *
  * @reboot_required true
- * @unit boolean
+ * @boolean
  * @group PWM Outputs
  */
 PARAM_DEFINE_INT32(PWM_MAIN_REV6, 0);
@@ -114,7 +114,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV6, 0);
  * Set to 1 to invert the channel, 0 for default direction.
  *
  * @reboot_required true
- * @unit boolean
+ * @boolean
  * @group PWM Outputs
  */
 PARAM_DEFINE_INT32(PWM_MAIN_REV7, 0);
@@ -125,7 +125,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV7, 0);
  * Set to 1 to invert the channel, 0 for default direction.
  *
  * @reboot_required true
- * @unit boolean
+ * @boolean
  * @group PWM Outputs
  */
 PARAM_DEFINE_INT32(PWM_MAIN_REV8, 0);
@@ -135,7 +135,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV8, 0);
  *
  * Set to 1 to enable S.BUS version 1 output instead of RSSI.
  *
- * @unit boolean
+ * @boolean
  * @group PWM Outputs
  */
 PARAM_DEFINE_INT32(PWM_SBUS_MODE, 0);

src/lib/launchdetection/launchdetection_params.c

@@ -47,7 +47,7 @@
 /**
  * Enable launch detection.
  *
- * @unit boolean
+ * @boolean
  * @min 0
  * @max 1
  * @group Launch detection

src/lib/runway_takeoff/runway_takeoff_params.c

@@ -44,7 +44,7 @@
  *
  * 0: disabled, 1: enabled
  *
- * @unit boolean
+ * @boolean
  * @group Runway Takeoff
  */
 PARAM_DEFINE_INT32(RWTO_TKOFF, 0);
@@ -54,9 +54,8 @@ PARAM_DEFINE_INT32(RWTO_TKOFF, 0);
  *
  * 0: airframe heading, 1: heading towards takeoff waypoint
  *
- * @unit enum
+ * @value 0 Airframe
- * @value 0 airframe
+ * @value 1 Waypoint
- * @value 1 waypoint
  * @min 0
  * @max 1
  * @group Runway Takeoff

src/modules/attitude_estimator_q/attitude_estimator_q_params.c

@@ -97,7 +97,7 @@ PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
  * Enable automatic GPS based declination compensation
  *
  * @group Attitude Q estimator
- * @unit boolean
+ * @boolean
  */
 PARAM_DEFINE_INT32(ATT_MAG_DECL_A, 1);
 
@@ -107,10 +107,9 @@ PARAM_DEFINE_INT32(ATT_MAG_DECL_A, 1);
  * Set to 2 to use heading from motion capture.
  *
  * @group Attitude Q estimator
- * @unit enum
+ * @value 0 None
- * @value 0 none
+ * @value 1 Vision
- * @value 1 vision
+ * @value 2 Motion Capture
- * @value 2 motion capture
  * @min 0
  * @max 2
  */
@@ -121,7 +120,7 @@ PARAM_DEFINE_INT32(ATT_EXT_HDG_M, 0);
  * velocity.
  *
  * @group Attitude Q estimator
- * @unit boolean
+ * @boolean
  */
 PARAM_DEFINE_INT32(ATT_ACC_COMP, 1);
 

src/modules/commander/commander_params.c

@@ -137,7 +137,7 @@ PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);
  * Defines the number of cells the attached battery consists of.
  *
  * @group Battery Calibration
- * @unit enum
+ * @unit S
  * @min 2
  * @max 10
  * @value 2 2S Battery
@@ -178,7 +178,7 @@ PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
  * Set to 1 to enable actions triggered when the datalink is lost.
  *
  * @group Commander
- * @unit boolean
+ * @boolean
  */
 PARAM_DEFINE_INT32(COM_DL_LOSS_EN, 0);
 
@@ -303,7 +303,7 @@ PARAM_DEFINE_FLOAT(COM_HOME_V_T, 10.0f);
  * being sticky. Developers can default it to off.
  *
  * @group Commander
- * @unit boolean
+ * @boolean
  */
 PARAM_DEFINE_INT32(COM_AUTOS_PAR, 1);
 
@@ -316,7 +316,6 @@ PARAM_DEFINE_INT32(COM_AUTOS_PAR, 1);
  * of directly forwarding the manual input data.
  *
  * @group Commander
- * @unit enum
  * @min 0
  * @max 2
  * @value 0 RC Transmitter
@@ -347,7 +346,6 @@ PARAM_DEFINE_INT32(COM_DISARM_LAND, 0);
  * If the main switch channel is in this range the
  * selected flight mode will be applied.
  *
- * @unit enum
  * @value -1 Unassigned
  * @value 0 Manual
  * @value 1 Altitude
@@ -370,7 +368,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE1, -1);
  * If the main switch channel is in this range the
  * selected flight mode will be applied.
  *
- * @unit enum
  * @value -1 Unassigned
  * @value 0 Manual
  * @value 1 Altitude
@@ -393,7 +390,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE2, -1);
  * If the main switch channel is in this range the
  * selected flight mode will be applied.
  *
- * @unit enum
  * @value -1 Unassigned
  * @value 0 Manual
  * @value 1 Altitude
@@ -416,7 +412,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE3, -1);
  * If the main switch channel is in this range the
  * selected flight mode will be applied.
  *
- * @unit enum
  * @value -1 Unassigned
  * @value 0 Manual
  * @value 1 Altitude
@@ -439,7 +434,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE4, -1);
  * If the main switch channel is in this range the
  * selected flight mode will be applied.
  *
- * @unit enum
  * @value -1 Unassigned
  * @value 0 Manual
  * @value 1 Altitude
@@ -457,12 +451,11 @@ PARAM_DEFINE_INT32(COM_FLTMODE4, -1);
 PARAM_DEFINE_INT32(COM_FLTMODE5, -1);
 
 /**
- * Sixt flightmode slot (1800-2000)
+ * Sixth flightmode slot (1800-2000)
  *
  * If the main switch channel is in this range the
  * selected flight mode will be applied.
  *
- * @unit enum
  * @value -1 Unassigned
  * @value 0 Manual
  * @value 1 Altitude

src/modules/ekf2/ekf2_params.c

@@ -345,7 +345,6 @@ PARAM_DEFINE_INT32(EKF2_DECL_TYPE, 7);
  * If set to automatic: heading fusion on-ground and 3-axis fusion in-flight
  * 
  * @group EKF2
- * @unit enum
  * @value 0 Automatic
  * @value 1 Magnetic heading
  * @value 2 3-axis fusion
@@ -387,7 +386,7 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 3.0f);
  * replay messages for logging.
  *
  * @group EKF2
- * @unit boolean
+ * @boolean
  */
 PARAM_DEFINE_INT32(EKF2_REC_RPL, 0);
 

src/modules/fw_att_control/fw_att_control_params.c

@@ -83,6 +83,7 @@ PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f);
  * This defines how much the elevator input will be commanded depending on the
  * current body angular rate error.
  *
+ * @unit %/rad/s
  * @min 0.005
  * @max 1.0
  * @group FW Attitude Control
@@ -95,6 +96,7 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
  * This gain defines how much control response will result out of a steady
  * state error. It trims any constant error.
  *
+ * @unit %/rad
  * @min 0.005
  * @max 0.5
  * @group FW Attitude Control
@@ -133,6 +135,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);
  * The portion of the integrator part in the control surface deflection is
  * limited to this value
  *
+ * @unit %
  * @min 0.0
  * @max 1.0
  * @group FW Attitude Control
@@ -145,6 +148,7 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
  * This defines how much the aileron input will be commanded depending on the
  * current body angular rate error.
  *
+ * @unit %/rad/s
  * @min 0.005
  * @max 1.0
  * @group FW Attitude Control
@@ -157,6 +161,7 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
  * This gain defines how much control response will result out of a steady
  * state error. It trims any constant error.
  *
+ * @unit %/rad
  * @min 0.005
  * @max 0.2
  * @group FW Attitude Control
@@ -168,6 +173,7 @@ PARAM_DEFINE_FLOAT(FW_RR_I, 0.01f);
  *
  * The portion of the integrator part in the control surface deflection is limited to this value.
  *
+ * @unit %
  * @min 0.0
  * @max 1.0
  * @group FW Attitude Control
@@ -193,6 +199,7 @@ PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f);
  * This defines how much the rudder input will be commanded depending on the
  * current body angular rate error.
  *
+ * @unit %/rad/s
  * @min 0.005
  * @max 1.0
  * @group FW Attitude Control
@@ -205,6 +212,7 @@ PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
  * This gain defines how much control response will result out of a steady
  * state error. It trims any constant error.
  *
+ * @unit %/rad
  * @min 0.0
  * @max 50.0
  * @group FW Attitude Control
@@ -217,6 +225,7 @@ PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f);
  * The portion of the integrator part in the control surface deflection is
  * limited to this value
  *
+ * @unit %
  * @min 0.0
  * @max 1.0
  * @group FW Attitude Control
@@ -242,6 +251,7 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
  * This defines how much the wheel steering input will be commanded depending on the
  * current body angular rate error.
  *
+ * @unit %/rad/s
  * @min 0.005
  * @max 1.0
  * @group FW Attitude Control
@@ -254,6 +264,7 @@ PARAM_DEFINE_FLOAT(FW_WR_P, 0.5f);
  * This gain defines how much control response will result out of a steady
  * state error. It trims any constant error.
  *
+ * @unit %/rad
  * @min 0.0
  * @max 50.0
  * @group FW Attitude Control
@@ -266,6 +277,7 @@ PARAM_DEFINE_FLOAT(FW_WR_I, 0.1f);
  * The portion of the integrator part in the control surface deflection is
  * limited to this value
  *
+ * @unit %
  * @min 0.0
  * @max 1.0
  * @group FW Attitude Control
@@ -292,6 +304,7 @@ PARAM_DEFINE_FLOAT(FW_W_RMAX, 0.0f);
  * to obtain a tigher response of the controller without introducing
  * noise amplification.
  *
+ * @unit %/rad/s
  * @min 0.0
  * @max 10.0
  * @group FW Attitude Control
@@ -303,6 +316,7 @@ PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f);
  *
  * Direct feed forward from rate setpoint to control surface output
  *
+ * @unit %/rad/s
  * @min 0.0
  * @max 10.0
  * @group FW Attitude Control
@@ -314,6 +328,7 @@ PARAM_DEFINE_FLOAT(FW_PR_FF, 0.5f);
  *
  * Direct feed forward from rate setpoint to control surface output
  *
+ * @unit %/rad/s
  * @min 0.0
  * @max 10.0
  * @group FW Attitude Control
@@ -325,6 +340,7 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
  *
  * Direct feed forward from rate setpoint to control surface output
  *
+ * @unit %/rad/s
  * @min 0.0
  * @max 10.0
  * @group FW Attitude Control
@@ -349,7 +365,6 @@ PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f);
  * 0: open-loop zero lateral acceleration based on kinematic constraints
  * 1: closed-loop: try to reduce lateral acceleration to 0 by measuring the acceleration
  *
- * @unit enum
  * @min 0
  * @max 1
  * @value 0 open-loop

src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c

@@ -54,7 +54,7 @@
  * @unit m
  * @min 12.0
  * @max 50.0
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 20.0f);
 
@@ -65,7 +65,7 @@ PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 20.0f);
  *
  * @min 0.6
  * @max 0.9
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
 
@@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
  *
  * @min 0.0
  * @max 1.0
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.6f);
 
@@ -87,7 +87,7 @@ PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.6f);
  *
  * @min 0.0
  * @max 1.0
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f);
 
@@ -99,7 +99,7 @@ PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f);
  * @unit deg
  * @min -60.0
  * @max 0.0
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
 
@@ -111,7 +111,7 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
  * @unit deg
  * @min 0.0
  * @max 60.0
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
 
@@ -123,7 +123,7 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
  * @unit deg
  * @min 35.0
  * @max 65.0
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f);
 
@@ -136,7 +136,7 @@ PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f);
  *
  * @min 0.0
  * @max 1.0
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
 
@@ -154,7 +154,7 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
  *
  * @min 0.0
  * @max 1.0
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
 
@@ -168,7 +168,7 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
  *
  * @min 0.0
  * @max 0.4
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_THR_IDLE, 0.15f);
 
@@ -180,7 +180,7 @@ PARAM_DEFINE_FLOAT(FW_THR_IDLE, 0.15f);
  *
  * @min 0.0
  * @max 1.0
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
 
@@ -195,7 +195,7 @@ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
  * @unit m
  * @min 0.0
  * @max 150.0
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 10.0f);
 
@@ -218,7 +218,7 @@ PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 10.0f);
  * @unit m/s
  * @min 2.0
  * @max 10.0
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
 
@@ -230,7 +230,7 @@ PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
  * to measure FW_T_CLMB_MAX.
  *
  * @unit m/s
- * @group Fixed Wing TECS
+ * @group FW TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
 
@@ -244,7 +244,7 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
  * the aircraft.
  *
  * @unit m/s
- * @group Fixed Wing TECS
+ * @group FW TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
 
@@ -256,7 +256,7 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
  * to respond.
  *
  * @unit s
- * @group Fixed Wing TECS
+ * @group FW TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
 
@@ -268,7 +268,7 @@ PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
  * to respond.
  *
  * @unit s
- * @group Fixed Wing TECS
+ * @group FW TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_THRO_CONST, 8.0f);
 
@@ -278,7 +278,7 @@ PARAM_DEFINE_FLOAT(FW_T_THRO_CONST, 8.0f);
  * This is the damping gain for the throttle demand loop.
  * Increase to add damping to correct for oscillations in speed and height.
  *
- * @group Fixed Wing TECS
+ * @group FW TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
 
@@ -290,7 +290,7 @@ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
  * and height offsets are trimmed out, but reduces damping and
  * increases overshoot.
  *
- * @group Fixed Wing TECS
+ * @group FW TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
 
@@ -304,7 +304,7 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
  * from under-speed conditions.
  *
  * @unit m/s/s
- * @group Fixed Wing TECS
+ * @group FW TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
 
@@ -318,7 +318,7 @@ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
  * the solution more towards use of the accelerometer data.
  *
  * @unit rad/s
- * @group Fixed Wing TECS
+ * @group FW TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
 
@@ -332,7 +332,7 @@ PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
  * solution more towards use of the accelerometer data.
  *
  * @unit rad/s
- * @group Fixed Wing TECS
+ * @group FW TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
 
@@ -348,7 +348,7 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
  * aircraft (eg powered sailplanes) can use a lower value, whereas
  * inefficient low aspect-ratio models (eg delta wings) can use a higher value.
  *
- * @group Fixed Wing TECS
+ * @group FW TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f);
 
@@ -368,7 +368,7 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f);
  *
  * @min 0.0
  * @max 2.0
- * @group Fixed Wing TECS
+ * @group FW TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
 
@@ -380,28 +380,28 @@ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
  * will work well provided the pitch to servo controller has been tuned
  * properly.
  *
- * @group Fixed Wing TECS
+ * @group FW TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
 
 /**
  * Height rate P factor
  *
- * @group Fixed Wing TECS
+ * @group FW TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
 
 /**
  * Height rate FF factor
  *
- * @group Fixed Wing TECS
+ * @group FW TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.0f);
 
 /**
  * Speed rate P factor
  *
- * @group Fixed Wing TECS
+ * @group FW TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.02f);
 
@@ -411,7 +411,7 @@ PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.02f);
  * @unit deg
  * @min 1.0
  * @max 15.0
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
 
@@ -419,7 +419,7 @@ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
  *
  *
  * @unit m
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f);
 
@@ -429,7 +429,7 @@ PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f);
  * @unit m
  * @min 0.0
  * @max 25.0
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_LND_FLALT, 8.0f);
 
@@ -442,7 +442,7 @@ PARAM_DEFINE_FLOAT(FW_LND_FLALT, 8.0f);
  * @unit m
  * @min -1.0
  * @max 30.0
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f);
 
@@ -452,7 +452,7 @@ PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f);
  * @unit m
  * @min 0
  * @max 30.0
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);
 
@@ -461,8 +461,8 @@ PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);
  *
  * 0: disabled, 1: enabled
  *
- * @unit boolean
+ * @boolean
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_INT32(FW_LND_USETER, 0);
 
@@ -475,7 +475,7 @@ PARAM_DEFINE_INT32(FW_LND_USETER, 0);
  * @unit deg
  * @min 0
  * @max 15.0
- * @group L1 Control
+ * @group FW L1 Control
  *
  */
 PARAM_DEFINE_FLOAT(FW_LND_FL_PMIN, 2.5f);
@@ -489,7 +489,7 @@ PARAM_DEFINE_FLOAT(FW_LND_FL_PMIN, 2.5f);
  * @unit deg
  * @min 0
  * @max 45.0
- * @group L1 Control
+ * @group FW L1 Control
  *
  */
 PARAM_DEFINE_FLOAT(FW_LND_FL_PMAX, 15.0f);
@@ -502,6 +502,6 @@ PARAM_DEFINE_FLOAT(FW_LND_FL_PMAX, 15.0f);
  *
  * @min 1.0
  * @max 1.5
- * @group L1 Control
+ * @group FW L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_LND_AIRSPD_SC, 1.3f);

src/modules/fw_pos_control_l1/mtecs/mTecs_params.c

@@ -47,7 +47,7 @@
  *
  * Set to 1 to enable mTECS
  *
- * @unit boolean
+ * @boolean
  * @group mTECS
  */
 PARAM_DEFINE_INT32(MT_ENABLED, 0);

src/modules/local_position_estimator/params.c

@@ -6,7 +6,7 @@
 /**
  * Enable local position estimator.
  *
- * @unit boolean
+ * @boolean
  * @group Local Position Estimator
  */
 PARAM_DEFINE_INT32(LPE_ENABLED, 1);
@@ -14,7 +14,7 @@ PARAM_DEFINE_INT32(LPE_ENABLED, 1);
 /**
  * Enable accelerometer integration for prediction.
  *
- * @unit boolean
+ * @boolean
  * @group Local Position Estimator
  */
 PARAM_DEFINE_INT32(LPE_INTEGRATE, 1);

src/modules/mavlink/mavlink_params.c

@@ -74,7 +74,7 @@ PARAM_DEFINE_INT32(MAV_TYPE, 1);
  *
  * If set to 1 incoming HIL GPS messages are parsed.
  *
- * @unit boolean
+ * @boolean
  * @group MAVLink
  */
 PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
@@ -85,7 +85,7 @@ PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
  * If set to 1 incoming external setpoint messages will be directly forwarded
  * to the controllers if in offboard control mode
  *
- * @unit boolean
+ * @boolean
  * @group MAVLink
  */
 PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1);

src/modules/navigator/datalinkloss_params.c

@@ -119,6 +119,6 @@ PARAM_DEFINE_INT32(NAV_DLL_N, 2);
  * airfield home
  *
  * @group Data Link Loss
- * @unit boolean
+ * @boolean
  */
 PARAM_DEFINE_INT32(NAV_DLL_CHSK, 0);

src/modules/navigator/geofence_params.c

@@ -48,14 +48,13 @@
  *
  * 0 = none, 1 = warning (default), 2 = loiter, 3 = return to launch, 4 = fight termination
  *
- * @unit enum
  * @min 0
  * @max 4
- * @value 0 none
+ * @value 0 None
- * @value 1 warning
+ * @value 1 Warning
- * @value 2 loiter
+ * @value 2 Loiter
- * @value 3 return
+ * @value 3 Return
- * @value 4 terminate
+ * @value 4 Terminate
  * @group Geofence
  */
 PARAM_DEFINE_INT32(GF_ACTION, 1);
@@ -66,7 +65,6 @@ PARAM_DEFINE_INT32(GF_ACTION, 1);
  * Select which altitude reference should be used
  * 0 = WGS84, 1 = AMSL
  *
- * @unit enum
  * @min 0
  * @max 1
  * @value 0 WGS84
@@ -82,7 +80,6 @@ PARAM_DEFINE_INT32(GF_ALTMODE, 0);
  * no dependence on the position estimator
  * 0 = global position, 1 = GPS
  *
- * @unit enum
  * @min 0
  * @max 1
  * @value 0 GPOS

src/modules/navigator/mission_params.c

@@ -73,7 +73,7 @@ PARAM_DEFINE_FLOAT(MIS_LTRMIN_ALT, 1.2f);
  * When enabled, missions that have been uploaded by the GCS are stored
  * and reloaded after reboot persistently.
  *
- * @unit boolean
+ * @boolean
  * @group Mission
  */
 PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 1);
@@ -99,16 +99,10 @@ PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 900);
  * 1: the system will follow a first order hold altitude setpoint
  * values follow the definition in enum mission_altitude_mode
  *
- * @unit enum
  * @min 0
  * @max 1
-<<<<<<< e22e0b28b61a7b4f7d10756678b8f4b533b3622e
  * @value 0 Zero Order Hold
  * @value 1 First Order Hold
-=======
- * @value 0 zero order
- * @value 1 first order
->>>>>>> mission param @unit
  * @group Mission
  */
 PARAM_DEFINE_INT32(MIS_ALTMODE, 1);
@@ -118,20 +112,12 @@ PARAM_DEFINE_INT32(MIS_ALTMODE, 1);
  *
  * The values are defined in the enum mission_altitude_mode
  *
- * @unit enum
  * @min 0
  * @max 3
-<<<<<<< e22e0b28b61a7b4f7d10756678b8f4b533b3622e
  * @value 0 Heading as set by waypoint
  * @value 1 Heading towards waypoint
  * @value 2 Heading towards home
  * @value 3 Heading away from home
-=======
- * @value 0 destination
- * @value 1 next
- * @value 2 home
- * @value 3 home back
->>>>>>> mission param @unit
  * @group Mission
  */
 PARAM_DEFINE_INT32(MIS_YAWMODE, 1);
@@ -144,9 +130,9 @@ PARAM_DEFINE_INT32(MIS_YAWMODE, 1);
  * Mainly useful for VTOLs that have less yaw authority and might not reach target
  * yaw in wind. Disabled by default.
  *
+ * @unit s
  * @min -1
  * @max 20
- * @unit second
  * @increment 1
  * @group Mission
  */
@@ -158,7 +144,6 @@ PARAM_DEFINE_FLOAT(MIS_YAW_TMT, -1.0f);
  * @unit deg
  * @min 0
  * @max 90
- * @unit degree
  * @increment 1
  * @group Mission
  */

src/modules/navigator/navigator_params.c

@@ -69,7 +69,7 @@ PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 10.0f);
  *
  * If set to 1 the behaviour on data link loss is set to a mode according to the Outback Challenge (OBC) rules
  *
- * @unit boolean
+ * @boolean
  * @group Mission
  */
 PARAM_DEFINE_INT32(NAV_DLL_OBC, 0);
@@ -79,7 +79,7 @@ PARAM_DEFINE_INT32(NAV_DLL_OBC, 0);
  *
  * If set to 1 the behaviour on data link loss is set to a mode according to the Outback Challenge (OBC) rules
  *
- * @unit boolean
+ * @boolean
  * @group Mission
  */
 PARAM_DEFINE_INT32(NAV_RCL_OBC, 0);

src/modules/position_estimator_inav/position_estimator_inav_params.cpp

@@ -306,7 +306,7 @@ PARAM_DEFINE_FLOAT(INAV_FLOW_DIST_Y, 0.0f);
  *
  * Disable mocap
  *
- * @unit boolean
+ * @boolean
  * @group Position Estimator INAV
  */
 PARAM_DEFINE_FLOAT(INAV_DISAB_MOCAP, 0);
@@ -316,7 +316,7 @@ PARAM_DEFINE_FLOAT(INAV_DISAB_MOCAP, 0);
  *
  * Enable LIDAR for altitude estimation
  *
- * @unit boolean
+ * @boolean
  * @group Position Estimator INAV
  */
 PARAM_DEFINE_FLOAT(INAV_LIDAR_EST, 0);
@@ -352,7 +352,7 @@ PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
  * Else the system uses the combined attitude / position
  * filter framework.
  *
- * @unit boolean
+ * @boolean
  * @group Position Estimator INAV
  */
 PARAM_DEFINE_INT32(INAV_ENABLED, 1);

src/modules/sdlog2/params.c

@@ -56,12 +56,11 @@ PARAM_DEFINE_INT32(SDLOG_RATE, -1);
  * parameter is only read out before logging starts
  * (which commonly is before arming).
  *
- * @unit enum
  * @min -1
  * @max  1
- * @value -1 command line
+ * @value -1 Command Line
- * @value 0 disable
+ * @value 0 Disable
- * @value 1 enable
+ * @value 1 Enable
  * @group SD Logging
  */
 PARAM_DEFINE_INT32(SDLOG_EXT, -1);
@@ -73,7 +72,7 @@ PARAM_DEFINE_INT32(SDLOG_EXT, -1);
  * to only use the time stamp if a 3D GPS lock is
  * present.
  *
- * @unit boolean
+ * @boolean
  * @group SD Logging
  */
 PARAM_DEFINE_INT32(SDLOG_GPSTIME, 1);

src/modules/sensors/sensor_params.c

@@ -329,7 +329,6 @@ PARAM_DEFINE_INT32(CAL_MAG1_ID, 0);
  * should only attempt to configure the rotation if the value is
  * greater than or equal to zero.
  *
- * @unit enum
  * @value -1 Internal mag
  * @value 0 No rotation
  * @value 1 Yaw 45°
@@ -536,7 +535,6 @@ PARAM_DEFINE_INT32(CAL_MAG2_ID, 0);
  * should only attempt to configure the rotation if the value is
  * greater than or equal to zero.
  *
- * @unit enum
  * @value -1 Internal mag
  * @value 0 No rotation
  * @value 1 Yaw 45°
@@ -735,7 +733,6 @@ PARAM_DEFINE_FLOAT(SENS_BARO_QNH, 1013.25f);
  *
  * This parameter defines the rotation of the FMU board relative to the platform.
  *
- * @unit enum
  * @value 0 No rotation
  * @value 1 Yaw 45°
  * @value 2 Yaw 90°
@@ -773,7 +770,6 @@ PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
  * This parameter defines the rotation of the PX4FLOW board relative to the platform.
  * Zero rotation is defined as Y on flow board pointing towards front of vehicle
  *
- * @unit enum
  * @value 0 No rotation
  * @value 1 Yaw 45°
  * @value 2 Yaw 90°
@@ -825,7 +821,6 @@ PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
 /**
  * External magnetometer rotation
  *
- * @unit enum
  * @value 0 No rotation
  * @value 1 Yaw 45°
  * @value 2 Yaw 90°
@@ -860,7 +855,6 @@ PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0);
 /**
  * Select primary magnetometer
  *
- * @unit enum
  * @min 0
  * @max 2
  * @value 0 Auto-select Mag
@@ -1921,7 +1915,6 @@ PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f);
 /**
  * Enable relay control of relay 1 mapped to the Spektrum receiver power supply
  *
- * @unit enum
  * @min 0
  * @max 1
  * @value 0 Disabled
@@ -1933,7 +1926,6 @@ PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
 /**
  * DSM binding trigger.
  *
- * @unit enum
  * @value -1 Inactive
  * @value 0 Start DSM2 bind
  * @value 1 Start DSMX bind
@@ -1992,7 +1984,7 @@ PARAM_DEFINE_INT32(RC_CHAN_CNT, 0);
  * indicates that the threshold value where automatically set by the ground
  * station software. It is only meant for ground station use.
  *
- * @unit boolean
+ * @boolean
  * @group Radio Calibration
  */
 
@@ -2005,7 +1997,6 @@ PARAM_DEFINE_INT32(RC_TH_USER, 1);
  * which channel should be used for reading roll inputs from.
  * A value of zero indicates the switch is not assigned.
  *
- * @unit enum
  * @min 0
  * @max 18
  * @value 0 Unassigned
@@ -2038,7 +2029,6 @@ PARAM_DEFINE_INT32(RC_MAP_ROLL, 0);
  * which channel should be used for reading pitch inputs from.
  * A value of zero indicates the switch is not assigned.
  *
- * @unit enum
  * @min 0
  * @max 18
  * @value 0 Unassigned
@@ -2071,7 +2061,6 @@ PARAM_DEFINE_INT32(RC_MAP_PITCH, 0);
  * If 0, whichever channel is mapped to throttle is used
  * otherwise the value indicates the specific rc channel to use
  *
- * @unit enum
  * @min 0
  * @max 18
  * @value 0 Unassigned
@@ -2103,7 +2092,6 @@ PARAM_DEFINE_INT32(RC_MAP_FAILSAFE, 0);  //Default to throttle function
  * which channel should be used for reading throttle inputs from.
  * A value of zero indicates the switch is not assigned.
  *
- * @unit enum
  * @min 0
  * @max 18
  * @value 0 Unassigned
@@ -2136,7 +2124,6 @@ PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 0);
  * which channel should be used for reading yaw inputs from.
  * A value of zero indicates the switch is not assigned.
  *
- * @unit enum
  * @min 0
  * @max 18
  * @value 0 Unassigned
@@ -2168,7 +2155,6 @@ PARAM_DEFINE_INT32(RC_MAP_YAW, 0);
  * If this parameter is non-zero, flight modes are only selected
  * by this channel and are assigned to six slots.
  *
- * @unit enum
  * @min 0
  * @max 18
  * @group Radio Switches
@@ -2202,7 +2188,6 @@ PARAM_DEFINE_INT32(RC_MAP_FLTMODE, 0);
  * which channel should be used for deciding about the main mode.
  * A value of zero indicates the switch is not assigned.
  *
- * @unit enum
  * @min 0
  * @max 18
  * @group Radio Switches
@@ -2231,7 +2216,6 @@ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
 /**
  * Return switch channel
  *
- * @unit enum
  * @min 0
  * @max 18
  * @group Radio Switches
@@ -2260,7 +2244,6 @@ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
 /**
  * Rattitude switch channel
  *
- * @unit enum
  * @min 0
  * @max 18
  * @group Radio Switches
@@ -2289,7 +2272,6 @@ PARAM_DEFINE_INT32(RC_MAP_RATT_SW, 0);
 /**
  * Position Control switch channel
  *
- * @unit enum
  * @min 0
  * @max 18
  * @group Radio Switches
@@ -2318,7 +2300,6 @@ PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
 /**
  * Loiter switch channel
  *
- * @unit enum
  * @min 0
  * @max 18
  * @group Radio Switches
@@ -2347,7 +2328,6 @@ PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
 /**
  * Acro switch channel
  *
- * @unit enum
  * @min 0
  * @max 18
  * @group Radio Switches
@@ -2376,7 +2356,6 @@ PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0);
 /**
  * Offboard switch channel
  *
- * @unit enum
  * @min 0
  * @max 18
  * @group Radio Switches
@@ -2405,7 +2384,6 @@ PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
 /**
  * Kill switch channel
  *
- * @unit enum
  * @min 0
  * @max 18
  * @group Radio Switches
@@ -2434,7 +2412,6 @@ PARAM_DEFINE_INT32(RC_MAP_KILL_SW, 0);
 /**
  * Flaps channel
  *
- * @unit enum
  * @min 0
  * @max 18
  * @group Radio Switches
@@ -2465,7 +2442,6 @@ PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0);
  *
  * Default function: Camera pitch
  *
- * @unit enum
  * @min 0
  * @max 18
  * @group Radio Calibration
@@ -2496,7 +2472,6 @@ PARAM_DEFINE_INT32(RC_MAP_AUX1, 0);
  *
  * Default function: Camera roll
  *
- * @unit enum
  * @min 0
  * @max 18
  * @group Radio Calibration
@@ -2527,7 +2502,6 @@ PARAM_DEFINE_INT32(RC_MAP_AUX2, 0);
  *
  * Default function: Camera azimuth / yaw
  *
- * @unit enum
  * @min 0
  * @max 18
  * @group Radio Calibration
@@ -2559,7 +2533,6 @@ PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);
  * Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel.
  * Set to 0 to deactivate *
  *
- * @unit enum
  * @min 0
  * @max 18
  * @group Radio Calibration
@@ -2591,7 +2564,6 @@ PARAM_DEFINE_INT32(RC_MAP_PARAM1, 0);
  * Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel.
  * Set to 0 to deactivate *
  *
- * @unit enum
  * @min 0
  * @max 18
  * @group Radio Calibration
@@ -2623,7 +2595,6 @@ PARAM_DEFINE_INT32(RC_MAP_PARAM2, 0);
  * Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel.
  * Set to 0 to deactivate *
  *
- * @unit enum
  * @min 0
  * @max 18
  * @group Radio Calibration
@@ -2832,7 +2803,6 @@ PARAM_DEFINE_FLOAT(RC_KILLSWITCH_TH, 0.25f);
  *
  * Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.
  *
- * @unit enum
  * @min 0
  * @max 18
  * @value 0 Unassigned
@@ -2888,7 +2858,7 @@ PARAM_DEFINE_INT32(RC_RSSI_PWM_MIN, 2000);
  *
  * @reboot_required true
  *
- * @unit boolean
+ * @boolean
  * @group Sensor Enable
  */
 PARAM_DEFINE_INT32(SENS_EN_LL40LS, 0);

src/modules/systemlib/system_params.c

@@ -90,7 +90,6 @@ PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
  * 921600: enables onboard mode at 921600 baud, 8N1. 57600: enables onboard mode at 57600 baud, 8N1.
  * 157600: enables OSD mode at 57600 baud, 8N1.
  *
- * @unit enum
  * @value 921600 Companion Link (921600 baud, 8N1)
  * @value 57600 Companion Link (57600 baud, 8N1)
  * @value 157600 OSD (57600 baud, 8N1)

src/modules/uavcan/uavcan_params.c

@@ -47,13 +47,12 @@
  *  2 - Enabled support for dynamic node ID allocation and firmware update.
  *  3 - Sets the motor control outputs to UAVCAN and enables support for dynamic node ID allocation and firmware update.
  *
- * @unit enum
  * @min 0
  * @max 3
- * @value 0 disabled
+ * @value 0 Disabled
- * @value 1 enabled
+ * @value 1 Enabled
- * @value 2 update
+ * @value 2 Dynamic ID/Update
- * @value 3 motors/update
+ * @value 3 Motors/Update
  * @group UAVCAN
  */
 PARAM_DEFINE_INT32(UAVCAN_ENABLE, 0);

src/modules/vtol_att_control/vtol_att_control_params.c

@@ -110,7 +110,7 @@ PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM, 10.0f);
  * If set to one this parameter will cause permanent attitude stabilization in fw mode.
  * This parameter has been introduced for pure convenience sake.
  *
- * @unit boolean
+ * @boolean
  * @group VTOL Attitude Control
  */
 PARAM_DEFINE_INT32(VT_FW_PERM_STAB, 0);
@@ -172,7 +172,6 @@ PARAM_DEFINE_FLOAT(VT_ARSP_LP_GAIN, 0.3f);
 /**
  * VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)
  *
- * @unit enum
  * @value 0 Tailsitter
  * @value 1 Tiltrotor
  * @value 2 Standard
@@ -188,7 +187,7 @@ PARAM_DEFINE_INT32(VT_TYPE, 0);
  *
  * If set to 1 the elevons are locked in multicopter mode
  *
- * @unit boolean
+ * @boolean
  * @group VTOL Attitude Control
  */
 PARAM_DEFINE_INT32(VT_ELEV_MC_LOCK, 0);
@@ -252,7 +251,7 @@ PARAM_DEFINE_FLOAT(VT_ARSP_TRANS, 10.0f);
 /**
  * Enable optimal recovery strategy for pitch-weak tailsitters
  *
- * @unit boolean
+ * @boolean
  * @group VTOL Attitude Control
  */
 PARAM_DEFINE_INT32(VT_OPT_RECOV_EN, 0);
@@ -260,7 +259,7 @@ PARAM_DEFINE_INT32(VT_OPT_RECOV_EN, 0);
 /**
  * Enable weather-vane mode landings for missions
  *
- * @unit boolean
+ * @boolean
  * @group VTOL Attitude Control
  */
 PARAM_DEFINE_INT32(VT_WV_LND_EN, 0);
@@ -282,7 +281,7 @@ PARAM_DEFINE_FLOAT(VT_WV_YAWR_SCL, 0.15f);
 /**
  * Enable weather-vane mode for loiter
  *
- * @unit boolean
+ * @boolean
  * @group VTOL Attitude Control
  */
 PARAM_DEFINE_INT32(VT_WV_LTR_EN, 0);