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Add a lot of MAVLink parameter documentation.

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This commit is contained in:
Stefan Rado 2014-02-14 01:48:00 +01:00
parent ccfe476326
commit 7441efde47
7 changed files with 433 additions and 60 deletions
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48
src/lib/launchdetection/launchdetection_params.c
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@ -45,28 +45,46 @@
#include <systemlib/param/param.h>
/*
* Launch detection parameters, accessible via MAVLink
* Catapult launch detection parameters, accessible via MAVLink
*
*/
/* Catapult Launch detection */
// @DisplayName Switch to enable launchdetection
// @Description if set to 1 launchdetection is enabled
// @Range 0 or 1
/**
* Enable launch detection.
*
* @min 0
* @max 1
* @group Launch detection
*/
PARAM_DEFINE_INT32(LAUN_ALL_ON, 0);
// @DisplayName Catapult Accelerometer Threshold
// @Description LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection
// @Range > 0
/**
* Catapult accelerometer theshold.
*
* LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.
*
* @min 0
* @group Launch detection
*/
PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f);
// @DisplayName Catapult Time Threshold
// @Description LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection
// @Range > 0, in seconds
/**
* Catapult time theshold.
*
* LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.
*
* @min 0
* @group Launch detection
*/
PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);
// @DisplayName Throttle setting while detecting the launch
// @Description The throttle is set to this value while the system is waiting for the takeoff
// @Range 0 to 1
/**
* Throttle setting while detecting launch.
*
* The throttle is set to this value while the system is waiting for the take-off.
*
* @min 0
* @max 1
* @group Launch detection
*/
PARAM_DEFINE_FLOAT(LAUN_THR_PRE, 0.0f);

32
src/modules/commander/commander_params.c
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@ -48,7 +48,39 @@
PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
/**
* Empty cell voltage.
*
* Defines the voltage where a single cell of the battery is considered empty.
*
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f);
/**
* Full cell voltage.
*
* Defines the voltage where a single cell of the battery is considered full.
*
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_V_FULL, 3.9f);
/**
* Number of cells.
*
* Defines the number of cells the attached battery consists of.
*
* @group Battery Calibration
*/
PARAM_DEFINE_INT32(BAT_N_CELLS, 3);
/**
* Battery capacity.
*
* Defines the capacity of the attached battery.
*
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);

12
src/modules/mavlink/mavlink.c
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@ -76,8 +76,20 @@
#include <uORB/topics/mission_result.h>
/* define MAVLink specific parameters */
/**
* MAVLink system ID
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
/**
* MAVLink component ID
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
/**
* MAVLink type
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
__EXPORT int mavlink_main(int argc, char *argv[]);

16
src/modules/navigator/geofence_params.c
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@ -45,11 +45,17 @@
#include <systemlib/param/param.h>
/*
* geofence parameters, accessible via MAVLink
*
* Geofence parameters, accessible via MAVLink
*/
// @DisplayName Switch to enable geofence
// @Description if set to 1 geofence is enabled, defaults to 1 because geofence is only enabled when the geofence.txt file is present
// @Range 0 or 1
/**
* Enable geofence.
*
* Set to 1 to enable geofence.
* Defaults to 1 because geofence is only enabled when the geofence.txt file is present.
*
* @min 0
* @max 1
* @group Geofence
*/
PARAM_DEFINE_INT32(GF_ON, 1);

63
src/modules/navigator/navigator_params.c
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@ -50,15 +50,72 @@
/*
* Navigator parameters, accessible via MAVLink
*
*/
/**
* Minimum altitude
*
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_MIN_ALT, 50.0f);
/**
* Waypoint acceptance radius.
*
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_ACCEPT_RAD, 10.0f);
/**
* Loiter radius.
*
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
/**
* @group Navigation
*/
PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0);
/**
* Default take-off altitude.
*
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f); // default TAKEOFF altitude
/**
* Landing altitude.
*
* Slowly descend from this altitude when landing.
*
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f); // slow descend from this altitude when landing
/**
* Return-to-land altitude.
*
* Minimum altitude for going home in RTL mode.
*
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f); // min altitude for going home in RTL mode
PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f); // delay after descend before landing, if set to -1 the system will not land but loiter at NAV_LAND_ALT
PARAM_DEFINE_INT32(NAV_PARACHUTE_EN, 0); // enable parachute deployment
/**
* Return-to-land delay.
*
* Delay after descend before landing.
* If set to -1 the system will not land but loiter at NAV_LAND_ALT.
*
* @group Navigation
*/
PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f);
/**
* Enable parachute deployment.
*
* @group Navigation
*/
PARAM_DEFINE_INT32(NAV_PARACHUTE_EN, 0);

303
src/modules/sensors/sensor_params.c
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@ -42,13 +42,10 @@
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
/**
* Gyro X offset
*
* This is an X-axis offset for the gyro. Adjust it according to the calibration data.
* Gyro X-axis offset
*
* @min -10.0
* @max 10.0
@ -57,7 +54,7 @@
PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);
/**
* Gyro Y offset
* Gyro Y-axis offset
*
* @min -10.0
* @max 10.0
@ -66,7 +63,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);
/**
* Gyro Z offset
* Gyro Z-axis offset
*
* @min -5.0
* @max 5.0
@ -75,9 +72,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);
/**
* Gyro X scaling
*
* X-axis scaling.
* Gyro X-axis scaling factor
*
* @min -1.5
* @max 1.5
@ -86,9 +81,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f);
/**
* Gyro Y scaling
*
* Y-axis scaling.
* Gyro Y-axis scaling factor
*
* @min -1.5
* @max 1.5
@ -97,9 +90,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f);
PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f);
/**
* Gyro Z scaling
*
* Z-axis scaling.
* Gyro Z-axis scaling factor
*
* @min -1.5
* @max 1.5
@ -107,10 +98,9 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f);
*/
PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f);
/**
* Magnetometer X offset
*
* This is an X-axis offset for the magnetometer.
* Magnetometer X-axis offset
*
* @min -500.0
* @max 500.0
@ -119,9 +109,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f);
PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
/**
* Magnetometer Y offset
*
* This is an Y-axis offset for the magnetometer.
* Magnetometer Y-axis offset
*
* @min -500.0
* @max 500.0
@ -130,9 +118,7 @@ PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
/**
* Magnetometer Z offset
*
* This is an Z-axis offset for the magnetometer.
* Magnetometer Z-axis offset
*
* @min -500.0
* @max 500.0
@ -140,24 +126,134 @@ PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
*/
PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f);
/**
* Magnetometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f);
/**
* Magnetometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f);
/**
* Magnetometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f);
/**
* Accelerometer X-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f);
/**
* Accelerometer Y-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f);
/**
* Accelerometer Z-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f);
/**
* Accelerometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f);
/**
* Accelerometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f);
/**
* Accelerometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);
/**
* Differential pressure sensor offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);
/**
* Differential pressure sensor analog enabled
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0);
/**
* Board rotation
*
* This parameter defines the rotation of the FMU board relative to the platform.
* Possible values are:
* 0 = No rotation
* 1 = Yaw 45°
* 2 = Yaw 90°
* 3 = Yaw 135°
* 4 = Yaw 180°
* 5 = Yaw 225°
* 6 = Yaw 270°
* 7 = Yaw 315°
* 8 = Roll 180°
* 9 = Roll 180°, Yaw 45°
* 10 = Roll 180°, Yaw 90°
* 11 = Roll 180°, Yaw 135°
* 12 = Pitch 180°
* 13 = Roll 180°, Yaw 225°
* 14 = Roll 180°, Yaw 270°
* 15 = Roll 180°, Yaw 315°
* 16 = Roll 90°
* 17 = Roll 90°, Yaw 45°
* 18 = Roll 90°, Yaw 90°
* 19 = Roll 90°, Yaw 135°
* 20 = Roll 270°
* 21 = Roll 270°, Yaw 45°
* 22 = Roll 270°, Yaw 90°
* 23 = Roll 270°, Yaw 135°
* 24 = Pitch 90°
* 25 = Pitch 270°
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
/**
* External magnetometer rotation
*
* This parameter defines the rotation of the external magnetometer relative
* to the platform (not relative to the FMU).
* See SENS_BOARD_ROT for possible values.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0);
/**
* RC Channel 1 Minimum
*
@ -367,20 +463,52 @@ PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
#endif
PARAM_DEFINE_INT32(RC_DSM_BIND, -1); /* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind */
/**
* DSM binding trigger.
*
* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind
*
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_DSM_BIND, -1);
/**
* Scaling factor for battery voltage sensor on PX4IO.
*
* @group Battery Calibration
*/
PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
/**
* Scaling factor for battery voltage sensor on FMU v2.
*
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
#else
/* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */
/* PX4IOAR: 0.00838095238 */
/* FMU standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659 */
/* FMU with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) */
/**
* Scaling factor for battery voltage sensor on FMU v1.
*
* FMUv1 standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659
* FMUv1 with PX4IO: 0.00459340659
* FMUv1 with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) = 0.00838095238
*
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.00459340659f);
#endif
/**
* Scaling factor for battery current sensor.
*
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.0124); /* scaling for 3DR power brick */
/**
* Roll control channel mapping.
*
@ -446,22 +574,127 @@ PARAM_DEFINE_INT32(RC_MAP_YAW, 4);
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
/**
* Return switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
/**
* Assist switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0);
/**
* Mission switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0);
//PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
/**
* Flaps channel mapping.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0);
PARAM_DEFINE_INT32(RC_MAP_AUX1, 0); /**< default function: camera pitch */
PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera roll */
PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); /**< default function: camera azimuth / yaw */
/**
* Auxiliary switch 1 channel mapping.
*
* Default function: Camera pitch
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_AUX1, 0);
/**
* Auxiliary switch 2 channel mapping.
*
* Default function: Camera roll
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera roll */
/**
* Auxiliary switch 3 channel mapping.
*
* Default function: Camera azimuth / yaw
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);
/**
* Roll scaling factor
*
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f);
/**
* Pitch scaling factor
*
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f);
/**
* Yaw scaling factor
*
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f);
PARAM_DEFINE_INT32(RC_FS_CH, 0); /**< RC failsafe channel, 0 = disable */
PARAM_DEFINE_INT32(RC_FS_MODE, 0); /**< RC failsafe mode: 0 = too low means signal loss, 1 = too high means signal loss */
PARAM_DEFINE_FLOAT(RC_FS_THR, 800); /**< RC failsafe PWM threshold */
/**
* Failsafe channel mapping.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_FS_CH, 0);
/**
* Failsafe channel mode.
*
* 0 = too low means signal loss,
* 1 = too high means signal loss
*
* @min 0
* @max 1
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_FS_MODE, 0);
/**
* Failsafe channel PWM threshold.
*
* @min 0
* @max 1
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_FS_THR, 800);

19
src/modules/systemlib/system_params.c
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@ -40,8 +40,23 @@
#include <nuttx/config.h>
#include <systemlib/param/param.h>
// Auto-start script with index #n
/**
* Auto-start script index.
*
* Defines the auto-start script used to bootstrap the system.
*
* @group System
*/
PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
// Automatically configure default values
/**
* Automatically configure default values.
*
* Set to 1 to set platform-specific parameters to their default
* values on next system startup.
*
* @min 0
* @max 1
* @group System
*/
PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);