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Fix pparam meta data

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Lorenz Meier
2016-03-14 09:41:47 +01:00
parent 58e08339e8
commit 0cab41075b
1 changed files with 28 additions and 16 deletions
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src/modules/ekf2/ekf2_params.c
+28 -16
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved.
* Copyright (c) 2015-2016 Estimation and Control Library (ECL). All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -82,7 +82,9 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_DELAY, 200);
PARAM_DEFINE_FLOAT(EKF2_ASP_DELAY, 200);
/**
* Integer bitmask controlling GPS checks. Set bits to 1 to enable checks. Checks enabled by the following bit positions
* Integer bitmask controlling GPS checks.
*
* Set bits to 1 to enable checks. Checks enabled by the following bit positions
* 0 : Minimum required sat count set by EKF2_REQ_NSATS
* 1 : Minimum required GDoP set by EKF2_REQ_GDOP
* 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH
@@ -323,7 +325,9 @@ PARAM_DEFINE_FLOAT(EKF2_HDG_GATE, 3.0f);
PARAM_DEFINE_FLOAT(EKF2_MAG_GATE, 3.0f);
/**
* Integer bitmask controlling handling of magnetic declination. Set bits in the following positions to enable functions.
* Integer bitmask controlling handling of magnetic declination.
*
* Set bits in the following positions to enable functions.
* 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value.
* 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms.
* 2 : Set to true to always use the declination as an observaton when 3-axis magnetometer fusion is being used.
@@ -335,14 +339,17 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_GATE, 3.0f);
PARAM_DEFINE_INT32(EKF2_DECL_TYPE, 7);
/**
* Type of magnetometer fusion
*
* Integer controlling the type of magnetometer fusion used - magnetic heading or 3-axis magnetometer.
* 0 : determine the best fusion method to use automatically - heading fusion on-ground and 3-axis fusion in-flight
* 1 : always use magnetic heading fusion
* 2 : always use 3-axis fusion
* Other values will disable magnetometer fusion completely
* If set to automatic: heading fusion on-ground and 3-axis fusion in-flight
*
* @group EKF2
* @min 0
* @max 2
* @unit enum
* @value 0 Automatic
* @value 1 Magnetic heading
* @value 2 3-axis fusion
* @value 3 Mag fusion off
*/
PARAM_DEFINE_INT32(EKF2_MAG_TYPE, 0);
@@ -374,6 +381,8 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_P_GATE, 3.0f);
PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 3.0f);
/**
* Replay mode
*
* A value of 1 indicates that the ekf2 module will publish
* replay messages for logging.
*
@@ -383,7 +392,9 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 3.0f);
PARAM_DEFINE_INT32(EKF2_REC_RPL, 0);
/**
* Integer bitmask controlling which external aiding sources will be used. Set bits in the following positions to enable:
* Integer bitmask controlling which external aiding sources will be used.
*
* Set bits in the following positions to enable:
* 0 : Set to true to use GPS data if available
* 1 : Set to true to use optical flow data if available
*
@@ -395,14 +406,13 @@ PARAM_DEFINE_INT32(EKF2_AID_MASK, 1);
/**
* Determines the primary source of height data used by the EKF.
*
* The range sensor option should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.
* 0 : Barometric pressure
* 1 : Reserved (placeholder for GPS)
* 2 : Range sensor
*
* @group EKF2
* @min 0
* @max 2
* @value 0 Barometric pressure
* @value 1 Reserved (GPS)
* @value 2 Range sensor
*/
PARAM_DEFINE_INT32(EKF2_HGT_MODE, 0);
@@ -443,7 +453,9 @@ PARAM_DEFINE_FLOAT(EKF2_MIN_RNG, 0.1f);
PARAM_DEFINE_FLOAT(EKF2_OF_N_MIN, 0.15f);
/**
* Measurement noise for the optical flow sensor when it's reported quality metric is at the minimum set by EKF2_OF_QMIN
* Measurement noise for the optical flow sensor.
*
* (when it's reported quality metric is at the minimum set by EKF2_OF_QMIN).
* The following condition must be met: EKF2_OF_N_MAXN >= EKF2_OF_N_MIN
*
* @group EKF2