Merge pull request #2035 from DonLakeFlyer/MetaDataFixes

Parameter meta data fixes

10 files changed, 116 insertions, 68 deletions

diff --git a/Tools/px4params/srcparser.py b/Tools/px4params/srcparser.py
index 8e6092195..891db7ecd 100644
--- a/Tools/px4params/srcparser.py
+++ b/Tools/px4params/srcparser.py
@@ -83,6 +83,7 @@ class SourceParser(object):
     re_comment_tag = re.compile(r'@([a-zA-Z][a-zA-Z0-9_]*)\s*(.*)')
     re_comment_end = re.compile(r'(.*?)\s*\*\/')
     re_parameter_definition = re.compile(r'PARAM_DEFINE_([A-Z_][A-Z0-9_]*)\s*\(([A-Z_][A-Z0-9_]*)\s*,\s*([^ ,\)]+)\s*\)\s*;')
+    re_px4_parameter_definition = re.compile(r'PX4_PARAM_DEFINE_([A-Z_][A-Z0-9_]*)\s*\(([A-Z_][A-Z0-9_]*)\s*\)\s*;')
     re_cut_type_specifier = re.compile(r'[a-z]+$')
     re_is_a_number = re.compile(r'^-?[0-9\.]')
     re_remove_dots = re.compile(r'\.+$')
@@ -206,8 +207,38 @@ class SourceParser(object):
                     if group not in self.param_groups:
                         self.param_groups[group] = ParameterGroup(group)
                     self.param_groups[group].AddParameter(param)
-                # Reset parsed comment.
-                state = None
+                else:
+                    # Nasty code dup, but this will all go away soon, so quick and dirty (DonLakeFlyer)
+                    m = self.re_px4_parameter_definition.match(line)
+                    if m:
+                        tp, code = m.group(1, 2)
+                        param = Parameter()
+                        param.SetField("code", code)
+                        param.SetField("short_desc", code)
+                        param.SetField("type", tp)
+                        # If comment was found before the parameter declaration,
+                        # inject its data into the newly created parameter.
+                        group = "Miscellaneous"
+                        if state == "comment-processed":
+                            if short_desc is not None:
+                                param.SetField("short_desc",
+                                   self.re_remove_dots.sub('', short_desc))
+                            if long_desc is not None:
+                                param.SetField("long_desc", long_desc)
+                            for tag in tags:
+                                if tag == "group":
+                                    group = tags[tag]
+                                elif tag not in self.valid_tags:
+                                    sys.stderr.write("Skipping invalid "
+                                             "documentation tag: '%s'\n" % tag)
+                                else:
+                                    param.SetField(tag, tags[tag])
+                        # Store the parameter
+                        if group not in self.param_groups:
+                            self.param_groups[group] = ParameterGroup(group)
+                        self.param_groups[group].AddParameter(param)
+                    # Reset parsed comment.
+                    state = None
 
     def GetParamGroups(self):
         """
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
index e143f37b9..fe480e12b 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
@@ -48,49 +48,49 @@
 /**
  * Body angular rate process noise
  *
- * @group attitude_ekf
+ * @group Attitude EKF estimator
  */
 PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q0, 1e-4f);
 
 /**
  * Body angular acceleration process noise
  *
- * @group attitude_ekf
+ * @group Attitude EKF estimator
  */
 PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q1, 0.08f);
 
 /**
  * Acceleration process noise
  *
- * @group attitude_ekf
+ * @group Attitude EKF estimator
  */
 PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q2, 0.009f);
 
 /**
  * Magnet field vector process noise
  *
- * @group attitude_ekf
+ * @group Attitude EKF estimator
  */
 PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
 
 /**
  * Gyro measurement noise
  *
- * @group attitude_ekf
+ * @group Attitude EKF estimator
  */
 PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f);
 
 /**
  * Accel measurement noise
  *
- * @group attitude_ekf
+ * @group Attitude EKF estimator
  */
 PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f);
 
 /**
  * Mag measurement noise
  *
- * @group attitude_ekf
+ * @group Attitude EKF estimator
  */
 PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
 
@@ -102,7 +102,7 @@ PARAM_DEFINE_INT32(ATT_ACC_COMP, 2);
 /**
  * Moment of inertia matrix diagonal entry (1, 1)
  *
- * @group attitude_ekf
+ * @group Attitude EKF estimator
  * @unit kg*m^2
  */
 PARAM_DEFINE_FLOAT(ATT_J11, 0.0018);
@@ -110,7 +110,7 @@ PARAM_DEFINE_FLOAT(ATT_J11, 0.0018);
 /**
  * Moment of inertia matrix diagonal entry (2, 2)
  *
- * @group attitude_ekf
+ * @group Attitude EKF estimator
  * @unit kg*m^2
  */
 PARAM_DEFINE_FLOAT(ATT_J22, 0.0018);
@@ -118,7 +118,7 @@ PARAM_DEFINE_FLOAT(ATT_J22, 0.0018);
 /**
  * Moment of inertia matrix diagonal entry (3, 3)
  *
- * @group attitude_ekf
+ * @group Attitude EKF estimator
  * @unit kg*m^2
  */
 PARAM_DEFINE_FLOAT(ATT_J33, 0.0037);
@@ -128,7 +128,7 @@ PARAM_DEFINE_FLOAT(ATT_J33, 0.0037);
  *
  * If set to != 0 the moment of inertia will be used in the estimator
  *
- * @group attitude_ekf
+ * @group Attitude EKF estimator
  * @min 0
  * @max 1
  */
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 2682e5f59..6663525cc 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -105,7 +105,7 @@ PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
  *
  * Set to 1 to enable actions triggered when the datalink is lost.
  *
- * @group commander
+ * @group Commander
  * @min 0
  * @max 1
  */
@@ -115,7 +115,7 @@ PARAM_DEFINE_INT32(COM_DL_LOSS_EN, 0);
  *
  * After this amount of seconds without datalink the data link lost mode triggers
  *
- * @group commander
+ * @group Commander
  * @unit second
  * @min 0
  * @max 30
@@ -127,7 +127,7 @@ PARAM_DEFINE_INT32(COM_DL_LOSS_T, 10);
  * After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss'
  * flag is set back to false
  *
- * @group commander
+ * @group Commander
  * @unit second
  * @min 0
  * @max 30
@@ -138,7 +138,7 @@ PARAM_DEFINE_INT32(COM_DL_REG_T, 0);
  *
  * Engine failure triggers only above this throttle value
  *
- * @group commander
+ * @group Commander
  * @min 0.0
  * @max 1.0
  */
@@ -148,7 +148,7 @@ PARAM_DEFINE_FLOAT(COM_EF_THROT, 0.5f);
  *
  * Engine failure triggers only below this current/throttle value
  *
- * @group commander
+ * @group Commander
  * @min 0.0
  * @max 7.0
  */
@@ -159,7 +159,7 @@ PARAM_DEFINE_FLOAT(COM_EF_C2T, 5.0f);
  * Engine failure triggers only if the throttle threshold and the
  * current to throttle threshold are violated for this time
  *
- * @group commander
+ * @group Commander
  * @unit second
  * @min 0.0
  * @max 7.0
@@ -170,7 +170,7 @@ PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
  *
  * After this amount of seconds without RC connection the rc lost flag is set to true
  *
- * @group commander
+ * @group Commander
  * @unit second
  * @min 0
  * @max 35
@@ -183,7 +183,7 @@ PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5);
  * Default is on, as the interoperability with currently deployed GCS solutions depends on parameters
  * being sticky. Developers can default it to off.
  *
- * @group commander
+ * @group Commander
  * @min 0
  * @max 1
  */
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index 9afe74af1..796d5cbf2 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -64,14 +64,18 @@ PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
 PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
 /**
  * Use/Accept HIL GPS message (even if not in HIL mode)
+ *
  * If set to 1 incomming HIL GPS messages are parsed.
+ *
  * @group MAVLink
  */
 PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
 /**
  * Forward external setpoint messages
+ *
  * If set to 1 incomming external setpoint messages will be directly forwarded to the controllers if in offboard
  * control mode
+ *
  * @group MAVLink
  */
 PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1);
diff --git a/src/modules/navigator/datalinkloss_params.c b/src/modules/navigator/datalinkloss_params.c
index 4591ec38a..9abc012cf 100644
--- a/src/modules/navigator/datalinkloss_params.c
+++ b/src/modules/navigator/datalinkloss_params.c
@@ -54,7 +54,7 @@
  *
  * @unit seconds
  * @min 0.0
- * @group DLL
+ * @group Data Link Loss
  */
 PARAM_DEFINE_FLOAT(NAV_DLL_CH_T, 120.0f);
 
@@ -65,7 +65,7 @@ PARAM_DEFINE_FLOAT(NAV_DLL_CH_T, 120.0f);
  *
  * @unit degrees * 1e7
  * @min 0
- * @group DLL
+ * @group Data Link Loss
  */
 PARAM_DEFINE_INT32(NAV_DLL_CH_LAT, -266072120);
 
@@ -76,7 +76,7 @@ PARAM_DEFINE_INT32(NAV_DLL_CH_LAT, -266072120);
  *
  * @unit degrees * 1e7
  * @min 0
- * @group DLL
+ * @group Data Link Loss
  */
 PARAM_DEFINE_INT32(NAV_DLL_CH_LON, 1518453890);
 
@@ -87,7 +87,7 @@ PARAM_DEFINE_INT32(NAV_DLL_CH_LON, 1518453890);
  *
  * @unit m
  * @min 0.0
- * @group DLL
+ * @group Data Link Loss
  */
 PARAM_DEFINE_FLOAT(NAV_DLL_CH_ALT, 600.0f);
 
@@ -98,7 +98,7 @@ PARAM_DEFINE_FLOAT(NAV_DLL_CH_ALT, 600.0f);
  *
  * @unit seconds
  * @min 0.0
- * @group DLL
+ * @group Data Link Loss
  */
 PARAM_DEFINE_FLOAT(NAV_DLL_AH_T, 120.0f);
 
@@ -107,7 +107,7 @@ PARAM_DEFINE_FLOAT(NAV_DLL_AH_T, 120.0f);
  *
  * After more than this number of data link timeouts the aircraft returns home directly
  *
- * @group DLL
+ * @group Data Link Loss
  * @min 0
  * @max 1000
  */
@@ -119,7 +119,7 @@ PARAM_DEFINE_INT32(NAV_DLL_N, 2);
  * If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to
  * airfield home
  *
- * @group DLL
+ * @group Data Link Loss
  * @min 0
  * @max 1
  */
diff --git a/src/modules/navigator/gpsfailure_params.c b/src/modules/navigator/gpsfailure_params.c
index 39d179eed..98104af29 100644
--- a/src/modules/navigator/gpsfailure_params.c
+++ b/src/modules/navigator/gpsfailure_params.c
@@ -55,7 +55,7 @@
  *
  * @unit seconds
  * @min 0.0
- * @group GPSF
+ * @group GPS Failure Navigation
  */
 PARAM_DEFINE_FLOAT(NAV_GPSF_LT, 30.0f);
 
@@ -67,7 +67,7 @@ PARAM_DEFINE_FLOAT(NAV_GPSF_LT, 30.0f);
  * @unit deg
  * @min 0.0
  * @max 30.0
- * @group GPSF
+ * @group GPS Failure Navigation
  */
 PARAM_DEFINE_FLOAT(NAV_GPSF_R, 15.0f);
 
@@ -79,7 +79,7 @@ PARAM_DEFINE_FLOAT(NAV_GPSF_R, 15.0f);
  * @unit deg
  * @min -30.0
  * @max 30.0
- * @group GPSF
+ * @group GPS Failure Navigation
  */
 PARAM_DEFINE_FLOAT(NAV_GPSF_P, 0.0f);
 
@@ -90,7 +90,7 @@ PARAM_DEFINE_FLOAT(NAV_GPSF_P, 0.0f);
  *
  * @min 0.0
  * @max 1.0
- * @group GPSF
+ * @group GPS Failure Navigation
  */
 PARAM_DEFINE_FLOAT(NAV_GPSF_TR, 0.7f);
 
diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c
index b15f4e7e7..ef4a8dc0c 100644
--- a/src/modules/navigator/navigator_params.c
+++ b/src/modules/navigator/navigator_params.c
@@ -95,7 +95,7 @@ PARAM_DEFINE_INT32(NAV_RCL_OBC, 0);
  *
  * @unit degrees * 1e7
  * @min 0
- * @group DLL
+ * @group Data Link Loss
  */
 PARAM_DEFINE_INT32(NAV_AH_LAT, -265847810);
 
@@ -106,7 +106,7 @@ PARAM_DEFINE_INT32(NAV_AH_LAT, -265847810);
  *
  * @unit degrees * 1e7
  * @min 0
- * @group DLL
+ * @group Data Link Loss
  */
 PARAM_DEFINE_INT32(NAV_AH_LON, 1518423250);
 
@@ -117,6 +117,6 @@ PARAM_DEFINE_INT32(NAV_AH_LON, 1518423250);
  *
  * @unit m
  * @min 0.0
- * @group DLL
+ * @group Data Link Loss
  */
 PARAM_DEFINE_FLOAT(NAV_AH_ALT, 600.0f);
diff --git a/src/modules/navigator/rcloss_params.c b/src/modules/navigator/rcloss_params.c
index f1a01c73b..f48aabc80 100644
--- a/src/modules/navigator/rcloss_params.c
+++ b/src/modules/navigator/rcloss_params.c
@@ -55,6 +55,6 @@
  *
  * @unit seconds
  * @min -1.0
- * @group RCL
+ * @group Radio Signal Loss
  */
 PARAM_DEFINE_FLOAT(NAV_RCL_LT, 120.0f);
diff --git a/src/modules/navigator/rtl_params.c b/src/modules/navigator/rtl_params.c
index 10394fed1..7800a6f03 100644
--- a/src/modules/navigator/rtl_params.c
+++ b/src/modules/navigator/rtl_params.c
@@ -55,7 +55,7 @@
  * @unit meters
  * @min 20
  * @max 200
- * @group RTL
+ * @group Return To Land
  */
 PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f);
 
@@ -67,7 +67,7 @@ PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f);
  * @unit meters
  * @min 0
  * @max 150
- * @group RTL
+ * @group Return To Land
  */
 PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60);
 
@@ -81,7 +81,7 @@ PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60);
  * @unit meters
  * @min 2
  * @max 100
- * @group RTL
+ * @group Return To Land
  */
 PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);
 
@@ -94,6 +94,6 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);
  * @unit seconds
  * @min -1
  * @max 300
- * @group RTL
+ * @group Return To Land
  */
 PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 1acc14fc6..18e47865b 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -1099,7 +1099,7 @@ PARAM_DEFINE_INT32(RC_MAP_YAW, 4);
  *
  * @min 0
  * @max 18
- * @group Radio Calibration
+ * @group Radio Switches
  */
 PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
 
@@ -1108,7 +1108,7 @@ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
  *
  * @min 0
  * @max 18
- * @group Radio Calibration
+ * @group Radio Switches
  */
 PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
 
@@ -1117,7 +1117,7 @@ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
  *
  * @min 0
  * @max 18
- * @group Radio Calibration
+ * @group Radio Switches
  */
 PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
 
@@ -1126,7 +1126,7 @@ PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
  *
  * @min 0
  * @max 18
- * @group Radio Calibration
+ * @group Radio Switches
  */
 PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
 
@@ -1135,7 +1135,7 @@ PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
  *
  * @min 0
  * @max 18
- * @group Radio Calibration
+ * @group Radio Switches
  */
 PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0);
 
@@ -1144,7 +1144,7 @@ PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0);
  *
  * @min 0
  * @max 18
- * @group Radio Calibration
+ * @group Radio Switches
  */
 PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
 
@@ -1153,7 +1153,7 @@ PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
  *
  * @min 0
  * @max 18
- * @group Radio Calibration
+ * @group Radio Switches
  */
 PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0);
 
@@ -1238,9 +1238,6 @@ PARAM_DEFINE_INT32(RC_FAILS_THR, 0);
 /**
  * Threshold for selecting assist mode
  *
- * min:-1
- * max:+1
- *
  * 0-1 indicate where in the full channel range the threshold sits
  * 		0 : min
  * 		1 : max
@@ -1248,15 +1245,17 @@ PARAM_DEFINE_INT32(RC_FAILS_THR, 0);
  * 		positive : true when channel>th
  * 		negative : true when channel<th
  *
+ * @min -1
+ * @max 1
+ * @group Radio Switches
+ *
+ *
  */
 PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f);
 
 /**
  * Threshold for selecting auto mode
  *
- * min:-1
- * max:+1
- *
  * 0-1 indicate where in the full channel range the threshold sits
  * 		0 : min
  * 		1 : max
@@ -1264,15 +1263,17 @@ PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f);
  * 		positive : true when channel>th
  * 		negative : true when channel<th
  *
+ * @min -1
+ * @max 1
+ * @group Radio Switches
+ *
+ *
  */
 PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
 
 /**
  * Threshold for selecting posctl mode
  *
- * min:-1
- * max:+1
- *
  * 0-1 indicate where in the full channel range the threshold sits
  * 		0 : min
  * 		1 : max
@@ -1280,15 +1281,16 @@ PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
  * 		positive : true when channel>th
  * 		negative : true when channel<th
  *
+ * @min -1
+ * @max 1
+ *
+ *
  */
 PARAM_DEFINE_FLOAT(RC_POSCTL_TH, 0.5f);
 
 /**
  * Threshold for selecting return to launch mode
  *
- * min:-1
- * max:+1
- *
  * 0-1 indicate where in the full channel range the threshold sits
  * 		0 : min
  * 		1 : max
@@ -1296,15 +1298,17 @@ PARAM_DEFINE_FLOAT(RC_POSCTL_TH, 0.5f);
  * 		positive : true when channel>th
  * 		negative : true when channel<th
  *
+ * @min -1
+ * @max 1
+ * @group Radio Switches
+ *
+ *
  */
 PARAM_DEFINE_FLOAT(RC_RETURN_TH, 0.5f);
 
 /**
  * Threshold for selecting loiter mode
  *
- * min:-1
- * max:+1
- *
  * 0-1 indicate where in the full channel range the threshold sits
  * 		0 : min
  * 		1 : max
@@ -1312,15 +1316,17 @@ PARAM_DEFINE_FLOAT(RC_RETURN_TH, 0.5f);
  * 		positive : true when channel>th
  * 		negative : true when channel<th
  *
+ * @min -1
+ * @max 1
+ * @group Radio Switches
+ *
+ *
  */
 PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f);
 
 /**
  * Threshold for selecting acro mode
  *
- * min:-1
- * max:+1
- *
  * 0-1 indicate where in the full channel range the threshold sits
  * 		0 : min
  * 		1 : max
@@ -1328,6 +1334,11 @@ PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f);
  * 		positive : true when channel>th
  * 		negative : true when channel<th
  *
+ * @min -1
+ * @max 1
+ * @group Radio Switches
+ *
+ *
  */
 PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);
 
@@ -1335,9 +1346,6 @@ PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);
 /**
  * Threshold for selecting offboard mode
  *
- * min:-1
- * max:+1
- *
  * 0-1 indicate where in the full channel range the threshold sits
  * 		0 : min
  * 		1 : max
@@ -1345,5 +1353,10 @@ PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);
  * 		positive : true when channel>th
  * 		negative : true when channel<th
  *
+ * @min -1
+ * @max 1
+ * @group Radio Switches
+ *
+ *
  */
 PARAM_DEFINE_FLOAT(RC_OFFB_TH, 0.5f);