Merge branch 'beta' into offboard2

2 files changed, 61 insertions, 7 deletions

diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index eb771382d..999eca833 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -381,14 +381,73 @@ PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.00459340659f);
 #endif
 PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.0124);	/* scaling for 3DR power brick */
 
+/**
+ * Roll control channel mapping.
+ *
+ * The channel index (starting from 1 for channel 1) indicates
+ * which channel should be used for reading roll inputs from.
+ * A value of zero indicates the switch is not assigned.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
+
+/**
+ * Pitch control channel mapping.
+ *
+ * The channel index (starting from 1 for channel 1) indicates
+ * which channel should be used for reading pitch inputs from.
+ * A value of zero indicates the switch is not assigned.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
+
+/**
+ * Throttle control channel mapping.
+ *
+ * The channel index (starting from 1 for channel 1) indicates
+ * which channel should be used for reading throttle inputs from.
+ * A value of zero indicates the switch is not assigned.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3);
+
+/**
+ * Yaw control channel mapping.
+ *
+ * The channel index (starting from 1 for channel 1) indicates
+ * which channel should be used for reading yaw inputs from.
+ * A value of zero indicates the switch is not assigned.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_INT32(RC_MAP_YAW, 4);
 
-PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 5);
+/**
+ * Mode switch channel mapping.
+ *
+ * This is the main flight mode selector.
+ * The channel index (starting from 1 for channel 1) indicates
+ * which channel should be used for deciding about the main mode.
+ * A value of zero indicates the switch is not assigned.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
 PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
-PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 6);
+PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0);
 PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0);
 PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
 
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index f87f2f282..f99e9d8bb 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -791,7 +791,6 @@ Sensors::accel_init()
 
 #endif
 
-		warnx("using system accel");
 		close(fd);
 	}
 }
@@ -831,7 +830,6 @@ Sensors::gyro_init()
 
 #endif
 
-		warnx("using system gyro");
 		close(fd);
 	}
 }
@@ -1502,9 +1500,6 @@ void
 Sensors::task_main()
 {
 
-	/* inform about start */
-	warnx("Initializing..");
-
 	/* start individual sensors */
 	accel_init();
 	gyro_init();