Merge branch 'beta'

src/drivers/mpu6000/mpu6000.cpp

@@ -913,10 +913,14 @@ MPU6000::gyro_self_test()
 
 	/*
 	 * Maximum deviation of 20 degrees, according to
-	 * http://www.invensense.com/mems/gyro/documents/PS-MPU-6000A-00v3.4.pdf
+	 * http://www.farnell.com/datasheets/1788002.pdf
 	 * Section 6.1, initial ZRO tolerance
+	 *
+	 * 20 dps (0.34 rad/s) initial offset
+	 * and 20 dps temperature drift, so 0.34 rad/s * 2
 	 */
-	const float max_offset = 0.34f;
+	const float max_offset = 2.0f * 0.34f;
+
 	/* 30% scale error is chosen to catch completely faulty units but
 	 * to let some slight scale error pass. Requires a rate table or correlation
 	 * with mag rotations + data fit to

src/modules/commander/commander.cpp

@@ -878,6 +878,8 @@ int commander_thread_main(int argc, char *argv[])
 	param_t _param_autostart_id = param_find("SYS_AUTOSTART");
 	param_t _param_autosave_params = param_find("COM_AUTOS_PAR");
 	param_t _param_rc_in_off = param_find("COM_RC_IN_MODE");
+	param_t _param_eph = param_find("COM_HOME_H_T");
+	param_t _param_epv = param_find("COM_HOME_V_T");
 
 	const char *main_states_str[vehicle_status_s::MAIN_STATE_MAX];
 	main_states_str[vehicle_status_s::MAIN_STATE_MANUAL]			= "MANUAL";
@@ -1300,6 +1302,10 @@ int commander_thread_main(int argc, char *argv[])
 
 			/* Parameter autosave setting */
 			param_get(_param_autosave_params, &autosave_params);
+
+			/* EPH / EPV */
+			param_get(_param_eph, &eph_threshold);
+			param_get(_param_epv, &epv_threshold);
 		}
 
 		/* Set flag to autosave parameters if necessary */

src/modules/commander/commander_params.c

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2013-2015 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
@@ -37,16 +36,54 @@
  *
  * Parameters defined by the sensors task.
  *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <julian@oes.ch>
+ * @author Lorenz Meier <lorenz@px4.io>
+ * @author Thomas Gubler <thomas@px4.io>
+ * @author Julian Oes <julian@px4.io>
  */
 
 #include <px4_config.h>
 #include <systemlib/param/param.h>
 
+/**
+ * Roll trim
+ *
+ * The trim value is the actuator control value the system needs
+ * for straight and level flight. It can be calibrated by
+ * flying manually straight and level using the RC trims and
+ * copying them using the GCS.
+ *
+ * @group Radio Calibration
+ * @min -0.25
+ * @max 0.25
+ */
 PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
+
+/**
+ * Pitch trim
+ *
+ * The trim value is the actuator control value the system needs
+ * for straight and level flight. It can be calibrated by
+ * flying manually straight and level using the RC trims and
+ * copying them using the GCS.
+ *
+ * @group Radio Calibration
+ * @min -0.25
+ * @max 0.25
+ */
 PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
+
+/**
+ * Yaw trim
+ *
+ * The trim value is the actuator control value the system needs
+ * for straight and level flight. It can be calibrated by
+ * flying manually straight and level using the RC trims and
+ * copying them using the GCS.
+ *
+ * @group Radio Calibration
+ * @min -0.25
+ * @max 0.25
+ */
 PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
 
 /**
@@ -77,6 +114,7 @@ PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.2f);
  *
  * @group Battery Calibration
  * @unit V
+ * @min 0.0f
  */
 PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);
 
@@ -87,6 +125,8 @@ PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);
  *
  * @group Battery Calibration
  * @unit S
+ * @min 1
+ * @max 10
  */
 PARAM_DEFINE_INT32(BAT_N_CELLS, 3);
 
@@ -182,7 +222,31 @@ PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
  * @min 0
  * @max 35
  */
-PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5);
+PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5f);
+
+/**
+ * Home set horizontal threshold
+ *
+ * The home position will be set if the estimated positioning accuracy is below the threshold.
+ *
+ * @group Commander
+ * @unit meter
+ * @min 2
+ * @max 15
+ */
+PARAM_DEFINE_FLOAT(COM_HOME_H_T, 5.0f);
+
+/**
+ * Home set vertical threshold
+ *
+ * The home position will be set if the estimated positioning accuracy is below the threshold.
+ *
+ * @group Commander
+ * @unit meter
+ * @min 5
+ * @max 25
+ */
+PARAM_DEFINE_FLOAT(COM_HOME_V_T, 10.0f);
 
 /**
  * Autosaving of params