From f722ddf615af5f21fc32dbe4ff7dad523ab74e2e Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Wed, 19 Oct 2016 09:38:58 +1100
Subject: [PATCH] AP_RangeFinder: Update parameter documentation

Add brief description of body frame conventions.
---
 libraries/AP_RangeFinder/RangeFinder.cpp | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_RangeFinder/RangeFinder.cpp b/libraries/AP_RangeFinder/RangeFinder.cpp
index 9d4f1f95f18..9bf938c25ae 100644
--- a/libraries/AP_RangeFinder/RangeFinder.cpp
+++ b/libraries/AP_RangeFinder/RangeFinder.cpp
@@ -132,19 +132,19 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
 
     // @Param: _POS_X
     // @DisplayName:  X position offset
-    // @Description: X position of the first rangefinder in body frame. Use the zero range datum point if supplied.
+    // @Description: X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
     // @Units: m
     // @User: Advanced
 
     // @Param: _POS_Y
     // @DisplayName: Y position offset
-    // @Description: Y position of the first rangefinder in body frame. Use the zero range datum point if supplied.
+    // @Description: Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
     // @Units: m
     // @User: Advanced
 
     // @Param: _POS_Z
     // @DisplayName: Z position offset
-    // @Description: Z position of the first rangefinder in body frame. Use the zero range datum point if supplied.
+    // @Description: Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
     // @Units: m
     // @User: Advanced
     AP_GROUPINFO("_POS", 49, RangeFinder, _pos_offset[0], 0.0f),
@@ -244,19 +244,19 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
 
     // @Param: 2_POS_X
     // @DisplayName:  X position offset
-    // @Description: X position of the second rangefinder in body frame. Use the zero range datum point if supplied.
+    // @Description: X position of the second rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
     // @Units: m
     // @User: Advanced
 
     // @Param: 2_POS_Y
     // @DisplayName: Y position offset
-    // @Description: Y position of the second rangefinder in body frame. Use the zero range datum point if supplied.
+    // @Description: Y position of the second rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
     // @Units: m
     // @User: Advanced
 
     // @Param: 2_POS_Z
     // @DisplayName: Z position offset
-    // @Description: Z position of the second rangefinder in body frame. Use the zero range datum point if supplied.
+    // @Description: Z position of the second rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
     // @Units: m
     // @User: Advanced
     AP_GROUPINFO("2_POS", 50, RangeFinder, _pos_offset[1], 0.0f),
@@ -349,19 +349,19 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
 
     // @Param: 3_POS_X
     // @DisplayName:  X position offset
-    // @Description: X position of the third rangefinder in body frame. Use the zero range datum point if supplied.
+    // @Description: X position of the third rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
     // @Units: m
     // @User: Advanced
 
     // @Param: 3_POS_Y
     // @DisplayName: Y position offset
-    // @Description: Y position of the third rangefinder in body frame. Use the zero range datum point if supplied.
+    // @Description: Y position of the third rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
     // @Units: m
     // @User: Advanced
 
     // @Param: 3_POS_Z
     // @DisplayName: Z position offset
-    // @Description: Z position of the third rangefinder in body frame. Use the zero range datum point if supplied.
+    // @Description: Z position of the third rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
     // @Units: m
     // @User: Advanced
     AP_GROUPINFO("3_POS", 51, RangeFinder, _pos_offset[2], 0.0f),