From f595b204eab82679a52ca5f43408797988cfdf42 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 13 Jan 2014 08:33:25 +0100 Subject: Parameter documentation improvements --- src/modules/sensors/module.mk | 2 +- src/modules/sensors/sensor_params.c | 186 +++++++++++++++++++++++++++++++++--- 2 files changed, 172 insertions(+), 16 deletions(-) (limited to 'src/modules/sensors') diff --git a/src/modules/sensors/module.mk b/src/modules/sensors/module.mk index ebbc580e1..aa538fd6b 100644 --- a/src/modules/sensors/module.mk +++ b/src/modules/sensors/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 763723554..caec03e04 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * @author Thomas Gubler - * @author Julian Oes + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -38,6 +35,10 @@ * @file sensor_params.c * * Parameters defined by the sensors task. + * + * @author Lorenz Meier + * @author Julian Oes + * @author Thomas Gubler */ #include @@ -45,41 +46,98 @@ #include /** - * Gyro X offset FIXME + * Gyro X offset * - * This is an X-axis offset for the gyro. - * Adjust it according to the calibration data. + * This is an X-axis offset for the gyro. Adjust it according to the calibration data. * * @min -10.0 * @max 10.0 - * @group Gyro Config + * @group Sensor Calibration */ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); /** - * Gyro Y offset FIXME with dot. + * Gyro Y offset * * @min -10.0 * @max 10.0 - * @group Gyro Config + * @group Sensor Calibration */ PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); /** - * Gyro Z offset FIXME + * Gyro Z offset * * @min -5.0 * @max 5.0 - * @group Gyro Config + * @group Sensor Calibration */ PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); +/** + * Gyro X scaling + * + * X-axis scaling. + * + * @min -1.5 + * @max 1.5 + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f); + +/** + * Gyro Y scaling + * + * Y-axis scaling. + * + * @min -1.5 + * @max 1.5 + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f); + +/** + * Gyro Z scaling + * + * Z-axis scaling. + * + * @min -1.5 + * @max 1.5 + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f); +/** + * Magnetometer X offset + * + * This is an X-axis offset for the magnetometer. + * + * @min -500.0 + * @max 500.0 + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); + +/** + * Magnetometer Y offset + * + * This is an Y-axis offset for the magnetometer. + * + * @min -500.0 + * @max 500.0 + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); + +/** + * Magnetometer Z offset + * + * This is an Z-axis offset for the magnetometer. + * + * @min -500.0 + * @max 500.0 + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f); @@ -100,16 +158,114 @@ PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0); PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0); PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0); +/** + * RC Channel 1 Minimum + * + * Minimum value for RC channel 1 + * + * @min 800.0 + * @max 1500.0 + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f); + +/** + * RC Channel 1 Trim + * + * Mid point value (same as min for throttle) + * + * @min 800.0 + * @max 2200.0 + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f); + +/** + * RC Channel 1 Maximum + * + * Maximum value for RC channel 1 + * + * @min 1500.0 + * @max 2200.0 + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f); + +/** + * RC Channel 1 Reverse + * + * Set to -1 to reverse channel. + * + * @min -1.0 + * @max 1.0 + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC1_REV, 1.0f); + +/** + * RC Channel 1 dead zone + * + * The +- range of this value around the trim value will be considered as zero. + * + * @min 0.0 + * @max 100.0 + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f); -PARAM_DEFINE_FLOAT(RC2_MIN, 1000); -PARAM_DEFINE_FLOAT(RC2_TRIM, 1500); -PARAM_DEFINE_FLOAT(RC2_MAX, 2000); +/** + * RC Channel 2 Minimum + * + * Minimum value for RC channel 2 + * + * @min 800.0 + * @max 1500.0 + * @group Radio Calibration + */ +PARAM_DEFINE_FLOAT(RC2_MIN, 1000.0f); + +/** + * RC Channel 2 Trim + * + * Mid point value (same as min for throttle) + * + * @min 800.0 + * @max 2200.0 + * @group Radio Calibration + */ +PARAM_DEFINE_FLOAT(RC2_TRIM, 1500.0f); + +/** + * RC Channel 2 Maximum + * + * Maximum value for RC channel 2 + * + * @min 1500.0 + * @max 2200.0 + * @group Radio Calibration + */ +PARAM_DEFINE_FLOAT(RC2_MAX, 2000.0f); + +/** + * RC Channel 2 Reverse + * + * Set to -1 to reverse channel. + * + * @min -1.0 + * @max 1.0 + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC2_REV, 1.0f); + +/** + * RC Channel 2 dead zone + * + * The +- range of this value around the trim value will be considered as zero. + * + * @min 0.0 + * @max 100.0 + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC3_MIN, 1000); -- cgit v1.2.3