1 files changed, 67 insertions, 2 deletions
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 999cf8bb3..38b190761 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -194,16 +194,25 @@ PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);
 /**
  * Differential pressure sensor offset
  *
+ * The offset (zero-reading) in Pascal
+ *
  * @group Sensor Calibration
  */
 PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);
 
 /**
- * Differential pressure sensor analog enabled
+ * Differential pressure sensor analog scaling
+ *
+ * Pick the appropriate scaling from the datasheet.
+ * this number defines the (linear) conversion from voltage
+ * to Pascal (pa). For the MPXV7002DP this is 1000.
+ *
+ * NOTE: If the sensor always registers zero, try switching
+ * the static and dynamic tubes.
  *
  * @group Sensor Calibration
  */
-PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0);
+PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0);
 
 
 /**
@@ -243,6 +252,36 @@ PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0);
 PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
 
 /**
+ * Board rotation Y (Pitch) offset
+ *
+ * This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user
+ * to fine tune the board offset in the event of misalignment.
+ *
+ * @group Sensor Calibration
+ */
+ PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f);
+
+/**
+ * Board rotation X (Roll) offset
+ *
+ * This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user
+ * to fine tune the board offset in the event of misalignment.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f);
+
+/**
+ * Board rotation Z (YAW) offset
+ *
+ * This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user
+ * to fine tune the board offset in the event of misalignment.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
+
+/**
  * External magnetometer rotation
  *
  * This parameter defines the rotation of the external magnetometer relative
@@ -635,6 +674,15 @@ PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
 PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0);
 
 /**
+ * Offboard switch channel mapping.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
+
+/**
  * Flaps channel mapping.
  *
  * @min 0
@@ -781,3 +829,20 @@ PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f);
  *
  */
 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
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
+ *
+ */
+PARAM_DEFINE_FLOAT(RC_OFFB_TH, 0.5f);