From 73db1a02ca07ecfe61dc4ce6d847aa0c831c85bf Mon Sep 17 00:00:00 2001
From: Eric Katzfey <53063038+katzfey@users.noreply.github.com>
Date: Mon, 17 Apr 2023 22:41:45 -0700
Subject: [PATCH] modal_io: add rpm unit to parameters (#21473)

---
 src/drivers/actuators/modal_io/modal_io_params.c | 2 ++
 src/lib/parameters/px4params/srcparser.py        | 2 +-
 validation/module_schema.yaml                    | 1 +
 3 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/drivers/actuators/modal_io/modal_io_params.c b/src/drivers/actuators/modal_io/modal_io_params.c
index 5d35454325..3bb8489855 100644
--- a/src/drivers/actuators/modal_io/modal_io_params.c
+++ b/src/drivers/actuators/modal_io/modal_io_params.c
@@ -82,6 +82,7 @@ PARAM_DEFINE_INT32(MODAL_IO_BAUD, 250000);
  * Minimum RPM for ESC
  *
  * @group MODAL IO
+ * @unit rpm
  */
 PARAM_DEFINE_INT32(MODAL_IO_RPM_MIN, 5500);
 
@@ -91,6 +92,7 @@ PARAM_DEFINE_INT32(MODAL_IO_RPM_MIN, 5500);
  * Maximum RPM for ESC
  *
  * @group MODAL IO
+ * @unit rpm
  */
 PARAM_DEFINE_INT32(MODAL_IO_RPM_MAX, 15000);
 
diff --git a/src/lib/parameters/px4params/srcparser.py b/src/lib/parameters/px4params/srcparser.py
index 1ed72860a6..f60789ea1b 100644
--- a/src/lib/parameters/px4params/srcparser.py
+++ b/src/lib/parameters/px4params/srcparser.py
@@ -364,7 +364,7 @@ class SourceParser(object):
                                 'S', 'A/%', '(m/s^2)^2', 'm/m',  'tan(rad)^2', '(m/s)^2', 'm/rad',
                                 'm/s^3/sqrt(Hz)', 'm/s/sqrt(Hz)', 's/(1000*PWM)', '%m/s', 'min', 'us/C',
                                 'N/(m/s)', 'Nm/rad', 'Nm/(rad/s)', 'Nm', 'N',
-                                'RPM',
+                                'rpm',
                                 'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD',''])
         for group in self.GetParamGroups():
             for param in group.GetParams():
diff --git a/validation/module_schema.yaml b/validation/module_schema.yaml
index df0035ebb2..d66b65bf80 100644
--- a/validation/module_schema.yaml
+++ b/validation/module_schema.yaml
@@ -154,6 +154,7 @@ parameters:
                                 'S', 'A/%', '(m/s^2)^2',  'm/m',  'tan(rad)^2', '(m/s)^2', 'm/rad',
                                 'm/s^3/sqrt(Hz)', 'm/s/sqrt(Hz)', 's/(1000*PWM)', '%m/s', 'min', 'us/C', 
                                 'N/(m/s)', 'Nm/(rad/s)', 'Nm', 'N',
+                                'rpm',
                                 'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD']
                         bit:
                             # description of all bits for type bitmask.