From 55b33e97b313df07b1feece84500da7520ff34e3 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 13 Mar 2016 14:48:25 -0400
Subject: [PATCH] mc_att_control param @unit

---
 .../mc_att_control/mc_att_control_params.c       | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c
index 8a05cf383b..5c9d57a280 100644
--- a/src/modules/mc_att_control/mc_att_control_params.c
+++ b/src/modules/mc_att_control/mc_att_control_params.c
@@ -44,6 +44,7 @@
  *
  * Reduce if the system is too twitchy, increase if the response is too slow and sluggish.
  *
+ * @unit s
  * @min 0.15
  * @max 0.25
  * @decimal 2
@@ -57,6 +58,7 @@ PARAM_DEFINE_FLOAT(MC_ROLL_TC, 0.2f);
  *
  * Reduce if the system is too twitchy, increase if the response is too slow and sluggish.
  *
+ * @unit s
  * @min 0.15
  * @max 0.25
  * @decimal 2
@@ -70,6 +72,7 @@ PARAM_DEFINE_FLOAT(MC_PITCH_TC, 0.2f);
  *
  * Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
  *
+ * @unit
  * @min 0.0
  * @max 8
  * @decimal 2
@@ -83,6 +86,7 @@ PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.5f);
  *
  * Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
  *
+ * @unit
  * @min 0.0
  * @max 0.5
  * @decimal 3
@@ -96,6 +100,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.15f);
  *
  * Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
  *
+ * @unit
  * @min 0.0
  * @decimal 3
  * @increment 0.01
@@ -108,6 +113,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.05f);
  *
  * Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
  *
+ * @unit
  * @min 0.0
  * @max 0.01
  * @decimal 4
@@ -121,6 +127,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.003f);
  *
  * Improves tracking performance.
  *
+ * @unit
  * @min 0.0
  * @decimal 4
  * @group Multicopter Attitude Control
@@ -146,6 +153,7 @@ PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f);
  *
  * Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
  *
+ * @unit
  * @min 0.0
  * @max 0.6
  * @decimal 3
@@ -159,6 +167,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.15f);
  *
  * Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
  *
+ * @unit
  * @min 0.0
  * @decimal 3
  * @increment 0.01
@@ -171,6 +180,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.05f);
  *
  * Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
  *
+ * @unit
  * @min 0.0
  * @decimal 4
  * @increment 0.0005
@@ -183,6 +193,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.003f);
  *
  * Improves tracking performance.
  *
+ * @unit
  * @min 0.0
  * @decimal 4
  * @group Multicopter Attitude Control
@@ -208,6 +219,7 @@ PARAM_DEFINE_FLOAT(MC_YAW_P, 2.8f);
  *
  * Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
  *
+ * @unit
  * @min 0.0
  * @max 0.6
  * @decimal 2
@@ -221,6 +233,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.2f);
  *
  * Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
  *
+ * @unit
  * @min 0.0
  * @decimal 2
  * @increment 0.01
@@ -233,6 +246,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.1f);
  *
  * Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
  *
+ * @unit
  * @min 0.0
  * @decimal 2
  * @increment 0.01
@@ -245,6 +259,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
  *
  * Improves tracking performance.
  *
+ * @unit
  * @min 0.0
  * @decimal 4
  * @increment 0.01
@@ -257,6 +272,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_FF, 0.0f);
  *
  * Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
  *
+ * @unit
  * @min 0.0
  * @max 1.0
  * @decimal 2