From 7441efde4745c0dddc08a36a0bbf83307f82948a Mon Sep 17 00:00:00 2001 From: Stefan Rado Date: Fri, 14 Feb 2014 01:48:00 +0100 Subject: Add a lot of MAVLink parameter documentation. --- src/modules/sensors/sensor_params.c | 301 ++++++++++++++++++++++++++++++++---- 1 file changed, 267 insertions(+), 34 deletions(-) (limited to 'src/modules/sensors/sensor_params.c') diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 30659fd3a..288c6e00a 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -42,13 +42,10 @@ */ #include - #include /** - * Gyro X offset - * - * This is an X-axis offset for the gyro. Adjust it according to the calibration data. + * Gyro X-axis offset * * @min -10.0 * @max 10.0 @@ -57,7 +54,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); /** - * Gyro Y offset + * Gyro Y-axis offset * * @min -10.0 * @max 10.0 @@ -66,7 +63,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); /** - * Gyro Z offset + * Gyro Z-axis offset * * @min -5.0 * @max 5.0 @@ -75,9 +72,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); /** - * Gyro X scaling - * - * X-axis scaling. + * Gyro X-axis scaling factor * * @min -1.5 * @max 1.5 @@ -86,9 +81,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f); /** - * Gyro Y scaling - * - * Y-axis scaling. + * Gyro Y-axis scaling factor * * @min -1.5 * @max 1.5 @@ -97,9 +90,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f); /** - * Gyro Z scaling - * - * Z-axis scaling. + * Gyro Z-axis scaling factor * * @min -1.5 * @max 1.5 @@ -107,10 +98,9 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f); */ PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f); + /** - * Magnetometer X offset - * - * This is an X-axis offset for the magnetometer. + * Magnetometer X-axis offset * * @min -500.0 * @max 500.0 @@ -119,9 +109,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); /** - * Magnetometer Y offset - * - * This is an Y-axis offset for the magnetometer. + * Magnetometer Y-axis offset * * @min -500.0 * @max 500.0 @@ -130,9 +118,7 @@ PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); /** - * Magnetometer Z offset - * - * This is an Z-axis offset for the magnetometer. + * Magnetometer Z-axis offset * * @min -500.0 * @max 500.0 @@ -140,24 +126,134 @@ PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); */ PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f); +/** + * Magnetometer X-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f); + +/** + * Magnetometer Y-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f); + +/** + * Magnetometer Z-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f); + +/** + * Accelerometer X-axis offset + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f); + +/** + * Accelerometer Y-axis offset + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f); + +/** + * Accelerometer Z-axis offset + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f); +/** + * Accelerometer X-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f); + +/** + * Accelerometer Y-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f); + +/** + * Accelerometer Z-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f); + +/** + * Differential pressure sensor offset + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f); + +/** + * Differential pressure sensor analog enabled + * + * @group Sensor Calibration + */ PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0); + +/** + * Board rotation + * + * This parameter defines the rotation of the FMU board relative to the platform. + * Possible values are: + * 0 = No rotation + * 1 = Yaw 45° + * 2 = Yaw 90° + * 3 = Yaw 135° + * 4 = Yaw 180° + * 5 = Yaw 225° + * 6 = Yaw 270° + * 7 = Yaw 315° + * 8 = Roll 180° + * 9 = Roll 180°, Yaw 45° + * 10 = Roll 180°, Yaw 90° + * 11 = Roll 180°, Yaw 135° + * 12 = Pitch 180° + * 13 = Roll 180°, Yaw 225° + * 14 = Roll 180°, Yaw 270° + * 15 = Roll 180°, Yaw 315° + * 16 = Roll 90° + * 17 = Roll 90°, Yaw 45° + * 18 = Roll 90°, Yaw 90° + * 19 = Roll 90°, Yaw 135° + * 20 = Roll 270° + * 21 = Roll 270°, Yaw 45° + * 22 = Roll 270°, Yaw 90° + * 23 = Roll 270°, Yaw 135° + * 24 = Pitch 90° + * 25 = Pitch 270° + * + * @group Sensor Calibration + */ PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0); + +/** + * External magnetometer rotation + * + * This parameter defines the rotation of the external magnetometer relative + * to the platform (not relative to the FMU). + * See SENS_BOARD_ROT for possible values. + * + * @group Sensor Calibration + */ PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0); + /** * RC Channel 1 Minimum * @@ -367,20 +463,52 @@ PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f); #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */ #endif -PARAM_DEFINE_INT32(RC_DSM_BIND, -1); /* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind */ +/** + * DSM binding trigger. + * + * -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind + * + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_DSM_BIND, -1); + + +/** + * Scaling factor for battery voltage sensor on PX4IO. + * + * @group Battery Calibration + */ PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000); + #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 +/** + * Scaling factor for battery voltage sensor on FMU v2. + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f); #else -/* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */ -/* PX4IOAR: 0.00838095238 */ -/* FMU standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659 */ -/* FMU with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) */ +/** + * Scaling factor for battery voltage sensor on FMU v1. + * + * FMUv1 standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659 + * FMUv1 with PX4IO: 0.00459340659 + * FMUv1 with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) = 0.00838095238 + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.00459340659f); #endif + +/** + * Scaling factor for battery current sensor. + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.0124); /* scaling for 3DR power brick */ + /** * Roll control channel mapping. * @@ -446,22 +574,127 @@ PARAM_DEFINE_INT32(RC_MAP_YAW, 4); * @group Radio Calibration */ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0); + +/** + * Return switch channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0); + +/** + * Assist switch channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0); + +/** + * Mission switch channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0); //PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); +/** + * Flaps channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0); -PARAM_DEFINE_INT32(RC_MAP_AUX1, 0); /**< default function: camera pitch */ +/** + * Auxiliary switch 1 channel mapping. + * + * Default function: Camera pitch + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_MAP_AUX1, 0); + +/** + * Auxiliary switch 2 channel mapping. + * + * Default function: Camera roll + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera roll */ -PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); /**< default function: camera azimuth / yaw */ +/** + * Auxiliary switch 3 channel mapping. + * + * Default function: Camera azimuth / yaw + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); + + +/** + * Roll scaling factor + * + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f); + +/** + * Pitch scaling factor + * + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f); + +/** + * Yaw scaling factor + * + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f); -PARAM_DEFINE_INT32(RC_FS_CH, 0); /**< RC failsafe channel, 0 = disable */ -PARAM_DEFINE_INT32(RC_FS_MODE, 0); /**< RC failsafe mode: 0 = too low means signal loss, 1 = too high means signal loss */ -PARAM_DEFINE_FLOAT(RC_FS_THR, 800); /**< RC failsafe PWM threshold */ + +/** + * Failsafe channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_FS_CH, 0); + +/** + * Failsafe channel mode. + * + * 0 = too low means signal loss, + * 1 = too high means signal loss + * + * @min 0 + * @max 1 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_FS_MODE, 0); + +/** + * Failsafe channel PWM threshold. + * + * @min 0 + * @max 1 + * @group Radio Calibration + */ +PARAM_DEFINE_FLOAT(RC_FS_THR, 800); -- cgit v1.2.3