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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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src/modules/sensors/sensor_params.c
+268 -35
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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);