From 344555e08654ea2f72d0214f37ae261ae9422f8e Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 13 Mar 2016 14:27:09 -0400
Subject: [PATCH] fw_att_control param @unit

---
 .../fw_att_control/fw_att_control_params.c    | 26 ++++++++++++++++---
 1 file changed, 23 insertions(+), 3 deletions(-)

diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c
index 2782c5b542..f271d1bae0 100644
--- a/src/modules/fw_att_control/fw_att_control_params.c
+++ b/src/modules/fw_att_control/fw_att_control_params.c
@@ -54,7 +54,7 @@
  * this will wear out servos faster, the value should only be decreased as
  * needed.
  *
- * @unit seconds
+ * @unit s
  * @min 0.4
  * @max 1.0
  * @group FW Attitude Control
@@ -70,7 +70,7 @@ PARAM_DEFINE_FLOAT(FW_R_TC, 0.4f);
  * this will wear out servos faster, the value should only be decreased as
  * needed.
  *
- * @unit seconds
+ * @unit s
  * @min 0.2
  * @max 1.0
  * @group FW Attitude Control
@@ -83,6 +83,7 @@ PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f);
  * This defines how much the elevator input will be commanded depending on the
  * current body angular rate error.
  *
+ * @unit
  * @min 0.005
  * @max 1.0
  * @group FW Attitude Control
@@ -95,6 +96,7 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
  * This gain defines how much control response will result out of a steady
  * state error. It trims any constant error.
  *
+ * @unit
  * @min 0.005
  * @max 0.5
  * @group FW Attitude Control
@@ -133,6 +135,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);
  * The portion of the integrator part in the control surface deflection is
  * limited to this value
  *
+ * @unit
  * @min 0.0
  * @max 1.0
  * @group FW Attitude Control
@@ -145,6 +148,7 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
  * This defines how much the aileron input will be commanded depending on the
  * current body angular rate error.
  *
+ * @unit
  * @min 0.005
  * @max 1.0
  * @group FW Attitude Control
@@ -157,6 +161,7 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
  * This gain defines how much control response will result out of a steady
  * state error. It trims any constant error.
  *
+ * @unit
  * @min 0.005
  * @max 0.2
  * @group FW Attitude Control
@@ -168,6 +173,7 @@ PARAM_DEFINE_FLOAT(FW_RR_I, 0.01f);
  *
  * The portion of the integrator part in the control surface deflection is limited to this value.
  *
+ * @unit
  * @min 0.0
  * @max 1.0
  * @group FW Attitude Control
@@ -193,6 +199,7 @@ PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f);
  * This defines how much the rudder input will be commanded depending on the
  * current body angular rate error.
  *
+ * @unit
  * @min 0.005
  * @max 1.0
  * @group FW Attitude Control
@@ -205,6 +212,7 @@ PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
  * This gain defines how much control response will result out of a steady
  * state error. It trims any constant error.
  *
+ * @unit
  * @min 0.0
  * @max 50.0
  * @group FW Attitude Control
@@ -217,6 +225,7 @@ PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f);
  * The portion of the integrator part in the control surface deflection is
  * limited to this value
  *
+ * @unit
  * @min 0.0
  * @max 1.0
  * @group FW Attitude Control
@@ -242,6 +251,7 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
  * This defines how much the wheel steering input will be commanded depending on the
  * current body angular rate error.
  *
+ * @unit
  * @min 0.005
  * @max 1.0
  * @group FW Attitude Control
@@ -254,6 +264,7 @@ PARAM_DEFINE_FLOAT(FW_WR_P, 0.5f);
  * This gain defines how much control response will result out of a steady
  * state error. It trims any constant error.
  *
+ * @unit
  * @min 0.0
  * @max 50.0
  * @group FW Attitude Control
@@ -266,6 +277,7 @@ PARAM_DEFINE_FLOAT(FW_WR_I, 0.1f);
  * The portion of the integrator part in the control surface deflection is
  * limited to this value
  *
+ * @unit
  * @min 0.0
  * @max 1.0
  * @group FW Attitude Control
@@ -292,6 +304,7 @@ PARAM_DEFINE_FLOAT(FW_W_RMAX, 0.0f);
  * to obtain a tigher response of the controller without introducing
  * noise amplification.
  *
+ * @unit
  * @min 0.0
  * @max 10.0
  * @group FW Attitude Control
@@ -303,6 +316,7 @@ PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f);
  *
  * Direct feed forward from rate setpoint to control surface output
  *
+ * @unit
  * @min 0.0
  * @max 10.0
  * @group FW Attitude Control
@@ -314,6 +328,7 @@ PARAM_DEFINE_FLOAT(FW_PR_FF, 0.5f);
  *
  * Direct feed forward from rate setpoint to control surface output
  *
+ * @unit
  * @min 0.0
  * @max 10.0
  * @group FW Attitude Control
@@ -325,6 +340,7 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
  *
  * Direct feed forward from rate setpoint to control surface output
  *
+ * @unit
  * @min 0.0
  * @max 10.0
  * @group FW Attitude Control
@@ -349,9 +365,11 @@ PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f);
  * 0: open-loop zero lateral acceleration based on kinematic constraints
  * 1: closed-loop: try to reduce lateral acceleration to 0 by measuring the acceleration
  *
+ * @unit enum
  * @min 0
  * @max 1
- * @unit m/s
+ * @value 0 open-loop
+ * @value 1 closed-loop
  * @group FW Attitude Control
  */
 PARAM_DEFINE_INT32(FW_YCO_METHOD, 0);
@@ -454,6 +472,7 @@ PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f);
 /**
  * Scale factor for flaps
  *
+ * @unit
  * @min 0.0
  * @max 1.0
  * @group FW Attitude Control
@@ -463,6 +482,7 @@ PARAM_DEFINE_FLOAT(FW_FLAPS_SCL, 1.0f);
 /**
  * Scale factor for flaperons
  *
+ * @unit
  * @min 0.0
  * @max 1.0
  * @group FW Attitude Control