param remove empty @unit

src/modules/attitude_estimator_q/attitude_estimator_q_params.c

@@ -45,7 +45,6 @@
  * Complimentary filter accelerometer weight
  *
  * @group Attitude Q estimator
- * @unit
  * @min 0
  * @max 1
  * @decimal 2
@@ -56,7 +55,6 @@ PARAM_DEFINE_FLOAT(ATT_W_ACC, 0.2f);
  * Complimentary filter magnetometer weight
  *
  * @group Attitude Q estimator
- * @unit
  * @min 0
  * @max 1
  * @decimal 2
@@ -67,7 +65,6 @@ PARAM_DEFINE_FLOAT(ATT_W_MAG, 0.1f);
  * Complimentary filter external heading weight
  *
  * @group Attitude Q estimator
- * @unit
  * @min 0
  * @max 1
  */
@@ -77,7 +74,6 @@ PARAM_DEFINE_FLOAT(ATT_W_EXT_HDG, 0.1f);
  * Complimentary filter gyroscope bias weight
  *
  * @group Attitude Q estimator
- * @unit
  * @min 0
  * @max 1
  * @decimal 2
@@ -144,7 +140,6 @@ PARAM_DEFINE_FLOAT(ATT_BIAS_MAX, 0.05f);
  * Threshold (of RMS) to warn about high vibration levels
  *
  * @group Attitude Q estimator
- * @unit
  * @min 0.01
  * @max 10
  * @decimal 2

src/modules/bottle_drop/bottle_drop_params.c

@@ -47,7 +47,6 @@
  * This parameter encodes the ground drag coefficient and the corresponding
  * decrease in wind speed from the plane altitude to ground altitude.
  *
- * @unit
  * @min 0.001
  * @max 0.1
  * @group Payload drop
@@ -91,7 +90,6 @@ PARAM_DEFINE_FLOAT(BD_PRECISION, 30.0f);
  * should give good results:
  * http://en.wikipedia.org/wiki/Drag_coefficient
  *
- * @unit
  * @min 0.08
  * @max 1.5
  * @group Payload drop

src/modules/commander/commander_params.c

@@ -53,7 +53,6 @@
  * copying them using the GCS.
  *
  * @group Radio Calibration
- * @unit
  * @min -0.25
  * @max 0.25
  * @decimal 2
@@ -70,7 +69,6 @@ PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
  * copying them using the GCS.
  *
  * @group Radio Calibration
- * @unit
  * @min -0.25
  * @max 0.25
  * @decimal 2
@@ -87,7 +85,6 @@ PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
  * copying them using the GCS.
  *
  * @group Radio Calibration
- * @unit
  * @min -0.25
  * @max 0.25
  * @decimal 2
@@ -220,7 +217,6 @@ PARAM_DEFINE_INT32(COM_DL_REG_T, 0);
  * Engine failure triggers only above this throttle value
  *
  * @group Commander
- * @unit
  * @min 0.0
  * @max 1.0
  * @decimal 1

src/modules/ekf2/ekf2_params.c

@@ -96,7 +96,6 @@ PARAM_DEFINE_FLOAT(EKF2_ASP_DELAY, 200);
  * @group EKF2
  * @min 0
  * @max 511
- * @unit
  */
 PARAM_DEFINE_INT32(EKF2_GPS_CHECK, 21);
 
@@ -136,7 +135,6 @@ PARAM_DEFINE_FLOAT(EKF2_REQ_SACC, 1.0f);
  * @group EKF2
  * @min 4
  * @max 12
- * @unit
  */
 PARAM_DEFINE_INT32(EKF2_REQ_NSATS, 6);
 
@@ -146,7 +144,6 @@ PARAM_DEFINE_INT32(EKF2_REQ_NSATS, 6);
  * @group EKF2
  * @min 1.5
  * @max 5.0
- * @unit
  */
 PARAM_DEFINE_FLOAT(EKF2_REQ_GDOP, 2.5f);
 
@@ -335,7 +332,6 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_GATE, 3.0f);
  * @group EKF2
  * @min 0
  * @max 7
- * @unit
  */
 PARAM_DEFINE_INT32(EKF2_DECL_TYPE, 7);
 
@@ -348,7 +344,6 @@ PARAM_DEFINE_INT32(EKF2_DECL_TYPE, 7);
  * @group EKF2
  * @min 0
  * @max 2
- * @unit
  */
 PARAM_DEFINE_INT32(EKF2_MAG_TYPE, 0);
 
@@ -396,7 +391,6 @@ PARAM_DEFINE_INT32(EKF2_REC_RPL, 0);
  * @group EKF2
  * @min 0
  * @max 3
- * @unit
  */
 PARAM_DEFINE_INT32(EKF2_AID_MASK, 1);
 
@@ -464,7 +458,6 @@ PARAM_DEFINE_FLOAT(EKF2_OF_N_MAX, 0.5f);
  * @group EKF2
  * @min 0
  * @max 255
- * @unit
  */
 PARAM_DEFINE_INT32(EKF2_OF_QMIN, 1);
 

src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c

@@ -109,7 +109,6 @@ PARAM_DEFINE_INT32(PE_TAS_DELAY_MS, 210);
  * GPS vs. barometric altitude update weight
  *
  * RE-CHECK this.
- * @unit
  * @min 0.0
  * @max 1.0
  * @group Position Estimator
@@ -122,7 +121,6 @@ PARAM_DEFINE_FLOAT(PE_GPS_ALT_WGT, 0.9f);
  * Increasing this value will make the filter trust this sensor
  * less and trust other sensors more.
  *
- * @unit
  * @min 0.5
  * @max 5.0
  * @group Position Estimator
@@ -134,7 +132,6 @@ PARAM_DEFINE_FLOAT(PE_EAS_NOISE, 1.4f);
  *
  * Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5
  *
- * @unit
  * @min 0.05
  * @max 5.0
  * @group Position Estimator
@@ -146,7 +143,6 @@ PARAM_DEFINE_FLOAT(PE_VELNE_NOISE, 0.3f);
  *
  * Generic default: 0.3, multicopters: 0.4, ground vehicles: 0.7
  *
- * @unit
  * @min 0.2
  * @max 3.0
  * @group Position Estimator
@@ -158,7 +154,6 @@ PARAM_DEFINE_FLOAT(PE_VELD_NOISE, 0.3f);
  *
  * Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5
  *
- * @unit
  * @min 0.1
  * @max 10.0
  * @group Position Estimator
@@ -170,7 +165,6 @@ PARAM_DEFINE_FLOAT(PE_POSNE_NOISE, 0.5f);
  *
  * Generic defaults: 1.25, multicopters: 1.0, ground vehicles: 1.0
  *
- * @unit
  * @min 0.5
  * @max 3.0
  * @group Position Estimator
@@ -182,7 +176,6 @@ PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 1.25f);
  *
  * Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05
  *
- * @unit
  * @min 0.01
  * @max 1.0
  * @group Position Estimator
@@ -196,7 +189,6 @@ PARAM_DEFINE_FLOAT(PE_MAG_NOISE, 0.05f);
  * This noise controls how much the filter trusts the gyro measurements.
  * Increasing it makes the filter trust the gyro less and other sensors more.
  *
- * @unit
  * @min 0.001
  * @max 0.05
  * @group Position Estimator
@@ -210,7 +202,6 @@ PARAM_DEFINE_FLOAT(PE_GYRO_PNOISE, 0.015f);
  * Increasing this value makes the filter trust the accelerometer less
  * and other sensors more.
  *
- * @unit
  * @min 0.05
  * @max 1.0
  * @group Position Estimator
@@ -223,7 +214,6 @@ PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.125f);
  * Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f.
  * Increasing this value will make the gyro bias converge faster but noisier.
  *
- * @unit
  * @min 0.00000005
  * @max 0.00001
  * @group Position Estimator
@@ -236,7 +226,6 @@ PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f);
  * Generic defaults: 0.00001f, multicopters: 0.00001f, ground vehicles: 0.00001f.
  * Increasing this value makes the bias estimation faster and noisier.
  *
- * @unit
  * @min 0.00001
  * @max 0.001
  * @group Position Estimator
@@ -250,7 +239,6 @@ PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 1e-05f);
  * Increasing this value makes the magnetometer earth bias estimate converge
  * faster but also noisier.
  *
- * @unit
  * @min 0.0001
  * @max 0.01
  * @group Position Estimator
@@ -264,7 +252,6 @@ PARAM_DEFINE_FLOAT(PE_MAGE_PNOISE, 0.0003f);
  * Increasing this value makes the magnetometer body bias estimate converge faster
  * but also noisier.
  *
- * @unit
  * @min 0.0001
  * @max 0.01
  * @group Position Estimator
@@ -277,7 +264,6 @@ PARAM_DEFINE_FLOAT(PE_MAGB_PNOISE, 0.0003f);
  * The magnetometer bias. This bias is learnt by the filter over time and
  * persists between boots.
  *
- * @unit
  * @min -0.6
  * @max 0.6
  * @group Position Estimator
@@ -290,7 +276,6 @@ PARAM_DEFINE_FLOAT(PE_MAGB_X, 0.0f);
  * The magnetometer bias. This bias is learnt by the filter over time and
  * persists between boots.
  *
- * @unit
  * @min -0.6
  * @max 0.6
  * @group Position Estimator
@@ -303,7 +288,6 @@ PARAM_DEFINE_FLOAT(PE_MAGB_Y, 0.0f);
  * The magnetometer bias. This bias is learnt by the filter over time and
  * persists between boots.
  *
- * @unit
  * @min -0.6
  * @max 0.6
  * @group Position Estimator
@@ -316,7 +300,6 @@ PARAM_DEFINE_FLOAT(PE_MAGB_Z, 0.0f);
  * If the standard deviation of the GPS position estimate is below this threshold
  * in meters, the filter will initialize.
  *
- * @unit
  * @min 0.3
  * @max 10.0
  * @group Position Estimator

src/modules/fw_att_control/fw_att_control_params.c

@@ -83,7 +83,6 @@ PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f);
  * This defines how much the elevator input will be commanded depending on the
  * current body angular rate error.
  *
- * @unit
  * @min 0.005
  * @max 1.0
  * @group FW Attitude Control
@@ -96,7 +95,6 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
  * This gain defines how much control response will result out of a steady
  * state error. It trims any constant error.
  *
- * @unit
  * @min 0.005
  * @max 0.5
  * @group FW Attitude Control
@@ -135,7 +133,6 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);
  * The portion of the integrator part in the control surface deflection is
  * limited to this value
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group FW Attitude Control
@@ -148,7 +145,6 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
  * This defines how much the aileron input will be commanded depending on the
  * current body angular rate error.
  *
- * @unit
  * @min 0.005
  * @max 1.0
  * @group FW Attitude Control
@@ -161,7 +157,6 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
  * This gain defines how much control response will result out of a steady
  * state error. It trims any constant error.
  *
- * @unit
  * @min 0.005
  * @max 0.2
  * @group FW Attitude Control
@@ -173,7 +168,6 @@ PARAM_DEFINE_FLOAT(FW_RR_I, 0.01f);
  *
  * The portion of the integrator part in the control surface deflection is limited to this value.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group FW Attitude Control
@@ -199,7 +193,6 @@ PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f);
  * This defines how much the rudder input will be commanded depending on the
  * current body angular rate error.
  *
- * @unit
  * @min 0.005
  * @max 1.0
  * @group FW Attitude Control
@@ -212,7 +205,6 @@ PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
  * This gain defines how much control response will result out of a steady
  * state error. It trims any constant error.
  *
- * @unit
  * @min 0.0
  * @max 50.0
  * @group FW Attitude Control
@@ -225,7 +217,6 @@ PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f);
  * The portion of the integrator part in the control surface deflection is
  * limited to this value
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group FW Attitude Control
@@ -251,7 +242,6 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
  * This defines how much the wheel steering input will be commanded depending on the
  * current body angular rate error.
  *
- * @unit
  * @min 0.005
  * @max 1.0
  * @group FW Attitude Control
@@ -264,7 +254,6 @@ PARAM_DEFINE_FLOAT(FW_WR_P, 0.5f);
  * This gain defines how much control response will result out of a steady
  * state error. It trims any constant error.
  *
- * @unit
  * @min 0.0
  * @max 50.0
  * @group FW Attitude Control
@@ -277,7 +266,6 @@ PARAM_DEFINE_FLOAT(FW_WR_I, 0.1f);
  * The portion of the integrator part in the control surface deflection is
  * limited to this value
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group FW Attitude Control
@@ -304,7 +292,6 @@ PARAM_DEFINE_FLOAT(FW_W_RMAX, 0.0f);
  * to obtain a tigher response of the controller without introducing
  * noise amplification.
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group FW Attitude Control
@@ -316,7 +303,6 @@ PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f);
  *
  * Direct feed forward from rate setpoint to control surface output
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group FW Attitude Control
@@ -328,7 +314,6 @@ PARAM_DEFINE_FLOAT(FW_PR_FF, 0.5f);
  *
  * Direct feed forward from rate setpoint to control surface output
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group FW Attitude Control
@@ -340,7 +325,6 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
  *
  * Direct feed forward from rate setpoint to control surface output
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group FW Attitude Control
@@ -472,7 +456,6 @@ PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f);
 /**
  * Scale factor for flaps
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group FW Attitude Control
@@ -482,7 +465,6 @@ PARAM_DEFINE_FLOAT(FW_FLAPS_SCL, 1.0f);
 /**
  * Scale factor for flaperons
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group FW Attitude Control

src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c

@@ -63,7 +63,6 @@ PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 20.0f);
  *
  * Damping factor for L1 control.
  *
- * @unit
  * @min 0.6
  * @max 0.9
  * @group L1 Control
@@ -75,7 +74,6 @@ PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
  *
  * This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group L1 Control
@@ -87,7 +85,6 @@ PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.6f);
  *
  * Maximum slew rate for the commanded throttle
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group L1 Control
@@ -137,7 +134,6 @@ PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f);
  * For overpowered aircraft, this should be reduced to a value that
  * provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group L1 Control
@@ -156,7 +152,6 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
  * For aircraft with internal combustion engine this parameter should be set
  * for desired idle rpm.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group L1 Control
@@ -171,7 +166,6 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
  * For aircraft with internal combustion engine this parameter should be set
  * above desired idle rpm.
  *
- * @unit
  * @min 0.0
  * @max 0.4
  * @group L1 Control
@@ -184,7 +178,6 @@ PARAM_DEFINE_FLOAT(FW_THR_IDLE, 0.15f);
  * This throttle value will be set as throttle limit at FW_LND_TLALT,
  * before arcraft will flare.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group L1 Control
@@ -285,7 +278,6 @@ PARAM_DEFINE_FLOAT(FW_T_THRO_CONST, 8.0f);
  * This is the damping gain for the throttle demand loop.
  * Increase to add damping to correct for oscillations in speed and height.
  *
- * @unit
  * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
@@ -298,7 +290,6 @@ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
  * and height offsets are trimmed out, but reduces damping and
  * increases overshoot.
  *
- * @unit
  * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
@@ -357,7 +348,6 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
  * aircraft (eg powered sailplanes) can use a lower value, whereas
  * inefficient low aspect-ratio models (eg delta wings) can use a higher value.
  *
- * @unit
  * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f);
@@ -376,7 +366,6 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f);
  * Note to Glider Pilots - set this parameter to 2.0 (The glider will
  * adjust its pitch angle to maintain airspeed, ignoring changes in height).
  *
- * @unit
  * @min 0.0
  * @max 2.0
  * @group Fixed Wing TECS
@@ -391,7 +380,6 @@ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
  * will work well provided the pitch to servo controller has been tuned
  * properly.
  *
- * @unit
  * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
@@ -399,7 +387,6 @@ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
 /**
  * Height rate P factor
  *
- * @unit
  * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
@@ -407,7 +394,6 @@ PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
 /**
  * Height rate FF factor
  *
- * @unit
  * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.0f);
@@ -415,7 +401,6 @@ PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.0f);
 /**
  * Speed rate P factor
  *
- * @unit
  * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.02f);
@@ -515,7 +500,6 @@ PARAM_DEFINE_FLOAT(FW_LND_FL_PMAX, 15.0f);
  * Multiplying this factor with the minimum airspeed of the plane
  * gives the target airspeed the landing approach.
  *
- * @unit
  * @min 1.0
  * @max 1.5
  * @group L1 Control

src/modules/fw_pos_control_l1/mtecs/mTecs_params.c

@@ -57,7 +57,6 @@ PARAM_DEFINE_INT32(MT_ENABLED, 0);
  * Total Energy Rate Control Feedforward
  * Maps the total energy rate setpoint to the throttle setpoint
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group mTECS
@@ -68,7 +67,6 @@ PARAM_DEFINE_FLOAT(MT_THR_FF, 0.7f);
  * Total Energy Rate Control P
  * Maps the total energy rate error to the throttle setpoint
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group mTECS
@@ -79,7 +77,6 @@ PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f);
  * Total Energy Rate Control I
  * Maps the integrated total energy rate to the throttle setpoint
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group mTECS
@@ -89,7 +86,6 @@ PARAM_DEFINE_FLOAT(MT_THR_I, 0.25f);
 /**
  * Total Energy Rate Control Offset (Cruise throttle sp)
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group mTECS
@@ -100,7 +96,6 @@ PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f);
  * Energy Distribution Rate Control Feedforward
  * Maps the energy distribution rate setpoint to the pitch setpoint
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group mTECS
@@ -111,7 +106,6 @@ PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.4f);
  * Energy Distribution Rate Control P
  * Maps the energy distribution rate error to the pitch setpoint
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group mTECS
@@ -122,7 +116,6 @@ PARAM_DEFINE_FLOAT(MT_PIT_P, 0.03f);
  * Energy Distribution Rate Control I
  * Maps the integrated energy distribution rate error to the pitch setpoint
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group mTECS
@@ -133,7 +126,6 @@ PARAM_DEFINE_FLOAT(MT_PIT_I, 0.03f);
 /**
  * Total Energy Distribution Offset (Cruise pitch sp)
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group mTECS
@@ -143,7 +135,6 @@ PARAM_DEFINE_FLOAT(MT_PIT_OFF, 0.0f);
 /**
  * Minimal Throttle Setpoint
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group mTECS
@@ -153,7 +144,6 @@ PARAM_DEFINE_FLOAT(MT_THR_MIN, 0.0f);
 /**
  * Maximal Throttle Setpoint
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group mTECS
@@ -200,7 +190,6 @@ PARAM_DEFINE_FLOAT(MT_FPA_LP, 1.0f);
  * P gain for the altitude control
  * Maps the altitude error to the flight path angle setpoint
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group mTECS
@@ -211,7 +200,6 @@ PARAM_DEFINE_FLOAT(MT_FPA_P, 0.3f);
  * D gain for the altitude control
  * Maps the change of altitude error to the flight path angle setpoint
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group mTECS
@@ -221,7 +209,6 @@ PARAM_DEFINE_FLOAT(MT_FPA_D, 0.0f);
 /**
  * Lowpass for FPA error derivative calculation (see MT_FPA_D)
  *
- * @unit
  * @group mTECS
  */
 PARAM_DEFINE_FLOAT(MT_FPA_D_LP, 1.0f);
@@ -250,7 +237,6 @@ PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f);
 /**
  * Lowpass (cutoff freq.) for airspeed
  *
- * @unit
  * @group mTECS
  */
 PARAM_DEFINE_FLOAT(MT_A_LP, 0.5f);
@@ -258,7 +244,6 @@ PARAM_DEFINE_FLOAT(MT_A_LP, 0.5f);
 /**
  * Airspeed derivative calculation lowpass
  *
- * @unit
  * @group mTECS
  */
 PARAM_DEFINE_FLOAT(MT_AD_LP, 0.5f);
@@ -267,7 +252,6 @@ PARAM_DEFINE_FLOAT(MT_AD_LP, 0.5f);
  * P gain for the airspeed control
  * Maps the airspeed error to the acceleration setpoint
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group mTECS
@@ -278,7 +262,6 @@ PARAM_DEFINE_FLOAT(MT_ACC_P, 0.3f);
  * D gain for the airspeed control
  * Maps the change of airspeed error to the acceleration setpoint
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group mTECS
@@ -288,7 +271,6 @@ PARAM_DEFINE_FLOAT(MT_ACC_D, 0.0f);
 /**
  * Lowpass for ACC error derivative calculation (see MT_ACC_D)
  *
- * @unit
  * @group mTECS
  */
 PARAM_DEFINE_FLOAT(MT_ACC_D_LP, 0.5f);
@@ -312,7 +294,6 @@ PARAM_DEFINE_FLOAT(MT_ACC_MAX, 40.0f);
 /**
  * Minimal throttle during takeoff
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group mTECS
@@ -322,7 +303,6 @@ PARAM_DEFINE_FLOAT(MT_TKF_THR_MIN, 1.0f);
 /**
  * Maximal throttle during takeoff
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group mTECS
@@ -352,7 +332,6 @@ PARAM_DEFINE_FLOAT(MT_TKF_PIT_MAX, 45.0f);
 /**
  * Minimal throttle in underspeed mode
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group mTECS
@@ -362,7 +341,6 @@ PARAM_DEFINE_FLOAT(MT_USP_THR_MIN, 1.0f);
 /**
  * Maximal throttle in underspeed mode
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group mTECS
@@ -392,7 +370,6 @@ PARAM_DEFINE_FLOAT(MT_USP_PIT_MAX, 0.0f);
 /**
  * Minimal throttle in landing mode (only last phase of landing)
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group mTECS
@@ -402,7 +379,6 @@ PARAM_DEFINE_FLOAT(MT_LND_THR_MIN, 0.0f);
 /**
  * Maximal throttle in landing mode (only last phase of landing)
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group mTECS
@@ -432,7 +408,6 @@ PARAM_DEFINE_FLOAT(MT_LND_PIT_MAX, 15.0f);
 /**
  * Integrator Limit for Total Energy Rate Control
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group mTECS
@@ -442,7 +417,6 @@ PARAM_DEFINE_FLOAT(MT_THR_I_MAX, 10.0f);
 /**
  * Integrator Limit for Energy Distribution Rate Control
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group mTECS

src/modules/land_detector/land_detector_params.c

@@ -76,7 +76,6 @@ PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);
  *
  * Maximum actuator output on throttle allowed in the landed state
  *
- * @unit
  * @min 0.1
  * @max 0.5
  *

src/modules/local_position_estimator/params.c

@@ -45,7 +45,6 @@ PARAM_DEFINE_FLOAT(LPE_FLW_XY, 0.01f);
  * Optical flow minimum quality threshold
  *
  * @group Local Position Estimator
- * @unit
  * @min 0
  * @max 255
  * @decimal 0
@@ -220,7 +219,6 @@ PARAM_DEFINE_FLOAT(LPE_VIS_Z, 0.5f);
  * Set to the appropriate key (328754) to disable vision input.
  *
  * @group Local Position Estimator
- * @unit
  * @min 0
  * @max 1
  * @decimal 0

src/modules/mavlink/mavlink_params.c

@@ -34,7 +34,6 @@
 /**
  * MAVLink system ID
  * @group MAVLink
- * @unit
  * @min 1
  * @max 250
  */
@@ -43,7 +42,6 @@ PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
 /**
  * MAVLink component ID
  * @group MAVLink
- * @unit
  * @min 1
  * @max 250
  */
@@ -58,7 +56,6 @@ PARAM_DEFINE_INT32(MAV_COMP_ID, 1);
  * factory defaults.
  *
  * @group MAVLink
- * @unit
  * @min -1
  * @max 240
  */
@@ -67,7 +64,6 @@ PARAM_DEFINE_INT32(MAV_RADIO_ID, 0);
 /**
  * MAVLink airframe type
  *
- * @unit
  * @min 1
  * @group MAVLink
  */
@@ -101,7 +97,6 @@ PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1);
  * testing the parameter interface on the communication level.
  *
  * @group MAVLink
- * @unit
  * @min -1000
  * @max 1000
  */

src/modules/mc_att_control/mc_att_control_params.c

@@ -72,7 +72,6 @@ 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
@@ -86,7 +85,6 @@ 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
@@ -100,7 +98,6 @@ 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
@@ -113,7 +110,6 @@ 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
@@ -127,7 +123,6 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.003f);
  *
  * Improves tracking performance.
  *
- * @unit
  * @min 0.0
  * @decimal 4
  * @group Multicopter Attitude Control
@@ -153,7 +148,6 @@ 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
@@ -167,7 +161,6 @@ 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
@@ -180,7 +173,6 @@ 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
@@ -193,7 +185,6 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.003f);
  *
  * Improves tracking performance.
  *
- * @unit
  * @min 0.0
  * @decimal 4
  * @group Multicopter Attitude Control
@@ -219,7 +210,6 @@ 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
@@ -233,7 +223,6 @@ 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
@@ -246,7 +235,6 @@ 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
@@ -259,7 +247,6 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
  *
  * Improves tracking performance.
  *
- * @unit
  * @min 0.0
  * @decimal 4
  * @increment 0.01
@@ -272,7 +259,6 @@ 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
@@ -382,7 +368,6 @@ PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 360.0f);
  * Manual input needed in order to override attitude control rate setpoints
  * and instead pass manual stick inputs as rate setpoints
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @decimal 2

src/modules/mc_att_control_multiplatform/mc_att_control_params.c

@@ -45,7 +45,6 @@
  *
  * Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
  *
- * @unit
  * @min 0.0
  * @group Multicopter Attitude Control
  */
@@ -56,7 +55,6 @@ PX4_PARAM_DEFINE_FLOAT(MP_ROLL_P);
  *
  * Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
  *
- * @unit
  * @min 0.0
  * @group Multicopter Attitude Control
  */
@@ -67,7 +65,6 @@ PX4_PARAM_DEFINE_FLOAT(MP_ROLLRATE_P);
  *
  * Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
  *
- * @unit
  * @min 0.0
  * @group Multicopter Attitude Control
  */
@@ -78,7 +75,6 @@ PX4_PARAM_DEFINE_FLOAT(MP_ROLLRATE_I);
  *
  * Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
  *
- * @unit
  * @min 0.0
  * @group Multicopter Attitude Control
  */
@@ -100,7 +96,6 @@ PX4_PARAM_DEFINE_FLOAT(MP_PITCH_P);
  *
  * Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
  *
- * @unit
  * @min 0.0
  * @group Multicopter Attitude Control
  */
@@ -111,7 +106,6 @@ PX4_PARAM_DEFINE_FLOAT(MP_PITCHRATE_P);
  *
  * Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
  *
- * @unit
  * @min 0.0
  * @group Multicopter Attitude Control
  */
@@ -122,7 +116,6 @@ PX4_PARAM_DEFINE_FLOAT(MP_PITCHRATE_I);
  *
  * Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
  *
- * @unit
  * @min 0.0
  * @group Multicopter Attitude Control
  */
@@ -144,7 +137,6 @@ PX4_PARAM_DEFINE_FLOAT(MP_YAW_P);
  *
  * Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
  *
- * @unit
  * @min 0.0
  * @group Multicopter Attitude Control
  */
@@ -155,7 +147,6 @@ PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_P);
  *
  * Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
  *
- * @unit
  * @min 0.0
  * @group Multicopter Attitude Control
  */
@@ -166,7 +157,6 @@ PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_I);
  *
  * Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
  *
- * @unit
  * @min 0.0
  * @group Multicopter Attitude Control
  */
@@ -177,7 +167,6 @@ PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_D);
  *
  * 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
  * @group Multicopter Attitude Control

src/modules/mc_pos_control/mc_pos_control_params.c

@@ -43,7 +43,6 @@
  *
  * It's recommended to set it > 0 to avoid free fall with zero thrust.
  *
- * @unit
  * @min 0.05
  * @max 1.0
  * @decimal 3
@@ -61,7 +60,6 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
  * throttle stick near center, which is then interpreted as (near)
  * zero demand for vertical speed.
  *
- * @unit
  * @min 0.2
  * @max 0.8
  * @group Multicopter Position Control
@@ -75,7 +73,6 @@ PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);
  * This is the halfwidth of the center region of the ALTCTL throttle
  * curve. It extends from center-dz to center+dz.
  *
- * @unit
  * @min 0.0
  * @max 0.2
  * @group Multicopter Position Control
@@ -89,7 +86,6 @@ PARAM_DEFINE_FLOAT(MPC_ALTCTL_DZ, 0.1f);
  * This is the height of the ALTCTL throttle
  * curve at center-dz and center+dz.
  *
- * @unit
  * @min 0.0
  * @max 0.2
  * @group Multicopter Position Control
@@ -104,7 +100,6 @@ PARAM_DEFINE_FLOAT(MPC_ALTCTL_DY, 0.0f);
  * the motors is possible any more. A value of 0.8 - 0.9
  * is recommended.
  *
- * @unit
  * @min 0.0
  * @max 0.95
  * @decimal 2
@@ -117,7 +112,6 @@ PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.9f);
  *
  * Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @decimal 3
@@ -133,7 +127,6 @@ PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
  * the motors is possible any more. A value of 0.8 - 0.9
  * is recommended.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @decimal 2
@@ -144,7 +137,6 @@ PARAM_DEFINE_FLOAT(MPC_MANTHR_MAX, 0.9f);
 /**
  * Proportional gain for vertical position error
  *
- * @unit
  * @min 0.0
  * @decimal 2
  * @group Multicopter Position Control
@@ -154,7 +146,6 @@ PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
 /**
  * Proportional gain for vertical velocity error
  *
- * @unit
  * @min 0.0
  * @decimal 2
  * @group Multicopter Position Control
@@ -166,7 +157,6 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.2f);
  *
  * Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
  *
- * @unit
  * @min 0.0
  * @decimal 3
  * @group Multicopter Position Control
@@ -176,7 +166,6 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f);
 /**
  * Differential gain for vertical velocity error
  *
- * @unit
  * @min 0.0
  * @decimal 3
  * @group Multicopter Position Control
@@ -201,7 +190,6 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 3.0f);
  *
  * Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @decimal 2
@@ -212,7 +200,6 @@ PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f);
 /**
  * Proportional gain for horizontal position error
  *
- * @unit
  * @min 0.0
  * @decimal 2
  * @group Multicopter Position Control
@@ -222,7 +209,6 @@ PARAM_DEFINE_FLOAT(MPC_XY_P, 1.25f);
 /**
  * Proportional gain for horizontal velocity error
  *
- * @unit
  * @min 0.0
  * @decimal 2
  * @group Multicopter Position Control
@@ -234,7 +220,6 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f);
  *
  * Non-zero value allows to resist wind.
  *
- * @unit
  * @min 0.0
  * @decimal 3
  * @group Multicopter Position Control
@@ -244,7 +229,6 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f);
 /**
  * Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
  *
- * @unit
  * @min 0.0
  * @decimal 3
  * @group Multicopter Position Control
@@ -282,7 +266,6 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f);
  *
  * Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @decimal 2
@@ -371,7 +354,6 @@ PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 200.0f);
 /**
  * Deadzone of X,Y sticks where position hold is enabled
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @decimal 2

src/modules/mc_pos_control_multiplatform/mc_pos_control_params.c

@@ -48,7 +48,6 @@
  *
  * Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group Multicopter Position Control
@@ -60,7 +59,6 @@ PX4_PARAM_DEFINE_FLOAT(MPP_THR_MIN);
  *
  * Limit max allowed thrust.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group Multicopter Position Control
@@ -70,7 +68,6 @@ PX4_PARAM_DEFINE_FLOAT(MPP_THR_MAX);
 /**
  * Proportional gain for vertical position error
  *
- * @unit
  * @min 0.0
  * @group Multicopter Position Control
  */
@@ -79,7 +76,6 @@ PX4_PARAM_DEFINE_FLOAT(MPP_Z_P);
 /**
  * Proportional gain for vertical velocity error
  *
- * @unit
  * @min 0.0
  * @group Multicopter Position Control
  */
@@ -90,7 +86,6 @@ PX4_PARAM_DEFINE_FLOAT(MPP_Z_VEL_P);
  *
  * Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
  *
- * @unit
  * @min 0.0
  * @group Multicopter Position Control
  */
@@ -99,7 +94,6 @@ PX4_PARAM_DEFINE_FLOAT(MPP_Z_VEL_I);
 /**
  * Differential gain for vertical velocity error
  *
- * @unit
  * @min 0.0
  * @group Multicopter Position Control
  */
@@ -121,7 +115,6 @@ PX4_PARAM_DEFINE_FLOAT(MPP_Z_VEL_MAX);
  *
  * Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group Multicopter Position Control
@@ -131,7 +124,6 @@ PX4_PARAM_DEFINE_FLOAT(MPP_Z_FF);
 /**
  * Proportional gain for horizontal position error
  *
- * @unit
  * @min 0.0
  * @group Multicopter Position Control
  */
@@ -140,7 +132,6 @@ PX4_PARAM_DEFINE_FLOAT(MPP_XY_P);
 /**
  * Proportional gain for horizontal velocity error
  *
- * @unit
  * @min 0.0
  * @group Multicopter Position Control
  */
@@ -151,7 +142,6 @@ PX4_PARAM_DEFINE_FLOAT(MPP_XY_VEL_P);
  *
  * Non-zero value allows to resist wind.
  *
- * @unit
  * @min 0.0
  * @group Multicopter Position Control
  */
@@ -160,7 +150,6 @@ PX4_PARAM_DEFINE_FLOAT(MPP_XY_VEL_I);
 /**
  * Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
  *
- * @unit
  * @min 0.0
  * @group Multicopter Position Control
  */
@@ -182,7 +171,6 @@ PX4_PARAM_DEFINE_FLOAT(MPP_XY_VEL_MAX);
  *
  * Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group Multicopter Position Control

src/modules/navigator/datalinkloss_params.c

@@ -107,7 +107,6 @@ PARAM_DEFINE_FLOAT(NAV_DLL_AH_T, 120.0f);
  * After more than this number of data link timeouts the aircraft returns home directly
  *
  * @group Data Link Loss
- * @unit
  * @min 0
  * @max 1000
  */

src/modules/navigator/geofence_params.c

@@ -96,7 +96,6 @@ PARAM_DEFINE_INT32(GF_SOURCE, 0);
  *
  * Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered
  *
- * @unit
  * @min -1
  * @max 10
  * @group Geofence

src/modules/navigator/gpsfailure_params.c

@@ -84,7 +84,6 @@ PARAM_DEFINE_FLOAT(NAV_GPSF_P, 0.0f);
  *
  * Thrust value which is set during the open loop loiter
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group GPS Failure Navigation

src/modules/navigator/mission_params.c

@@ -144,7 +144,6 @@ PARAM_DEFINE_INT32(MIS_YAWMODE, 1);
  * Mainly useful for VTOLs that have less yaw authority and might not reach target
  * yaw in wind. Disabled by default.
  *
- * @unit
  * @min -1
  * @max 20
  * @unit second

src/modules/position_estimator_inav/position_estimator_inav_params.cpp

@@ -46,7 +46,6 @@
  *
  * Weight (cutoff frequency) for barometer altitude measurements.
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -58,7 +57,6 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f);
  *
  * Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset.
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -70,7 +68,6 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);
  *
  * Weight (cutoff frequency) for GPS altitude velocity measurements.
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -82,7 +79,6 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_V, 0.0f);
  *
  * Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset.
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -94,7 +90,6 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_VIS_P, 5.0f);
  *
  * Weight (cutoff frequency) for lidar measurements.
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -106,7 +101,6 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_LIDAR, 3.0f);
  *
  * Weight (cutoff frequency) for GPS position measurements.
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -118,7 +112,6 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f);
  *
  * Weight (cutoff frequency) for GPS velocity measurements.
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -130,7 +123,6 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
  *
  * Weight (cutoff frequency) for vision position measurements.
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -142,7 +134,6 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 7.0f);
  *
  * Weight (cutoff frequency) for vision velocity measurements.
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -154,7 +145,6 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_V, 0.0f);
  *
  * Weight (cutoff frequency) for mocap position measurements.
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -167,7 +157,6 @@ PARAM_DEFINE_FLOAT(INAV_W_MOC_P, 10.0f);
  *
  * Weight (cutoff frequency) for optical flow (velocity) measurements.
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -179,7 +168,6 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 0.8f);
  *
  * When velocity sources lost slowly decrease estimated horizontal velocity with this weight.
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -191,7 +179,6 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_RES_V, 0.5f);
  *
  * When optical flow data available, multiply GPS weights (for position and velocity) by this factor.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group Position Estimator INAV
@@ -203,7 +190,6 @@ PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f);
  *
  * Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.
  *
- * @unit
  * @min 0.0
  * @max 0.1
  * @group Position Estimator INAV
@@ -215,7 +201,6 @@ PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f);
  *
  * Factor to scale optical flow
  *
- * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -227,7 +212,6 @@ PARAM_DEFINE_FLOAT(INAV_FLOW_K, 1.35f);
  *
  * 0 - lowest quality, 1 - best quality.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group Position Estimator INAV
@@ -275,7 +259,6 @@ PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f);
  *
  * Value should be lower than minimal hovering thrust. Half of it is good choice.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @group Position Estimator INAV

src/modules/sdlog2/params.c

@@ -103,7 +103,6 @@ PARAM_DEFINE_INT32(SDLOG_UTC_OFFSET, 0);
  * A value of 0 indicates that the default priority is used.
  * Increasing the parameter in steps of one increases the priority.
  *
- * @unit
  * @min 0
  * @max 3
  * @group SD Logging

src/modules/vtol_att_control/standard_params.c

@@ -42,7 +42,6 @@
 /**
  * Target throttle value for pusher/puller motor during the transition to fw mode
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @increment 0.01

src/modules/vtol_att_control/tiltrotor_params.c

@@ -43,7 +43,6 @@
 /**
  * Position of tilt servo in mc mode
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @increment 0.01
@@ -55,7 +54,6 @@ PARAM_DEFINE_FLOAT(VT_TILT_MC, 0.0f);
 /**
  * Position of tilt servo in transition mode
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @increment 0.01
@@ -67,7 +65,6 @@ PARAM_DEFINE_FLOAT(VT_TILT_TRANS, 0.3f);
 /**
  * Position of tilt servo in fw mode
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @increment 0.01
@@ -94,7 +91,6 @@ PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f);
 /**
  * The channel number of motors that must be turned off in fixed wing mode.
  *
- * @unit
  * @min 0
  * @max 12345678
  * @increment 1

src/modules/vtol_att_control/vtol_att_control_params.c

@@ -42,7 +42,6 @@
 /**
  * VTOL number of engines
  *
- * @unit
  * @min 0
  * @max 8
  * @increment 1
@@ -121,7 +120,6 @@ PARAM_DEFINE_INT32(VT_FW_PERM_STAB, 0);
  *
  * This parameter allows to adjust the neutral elevon position in fixed wing mode.
  *
- * @unit
  * @min -1.0
  * @max 1.0
  * @increment 0.01
@@ -150,7 +148,6 @@ PARAM_DEFINE_FLOAT(VT_POWER_MAX, 120.0f);
  *
  * Influences propeller efficiency at different power settings. Should be tuned beforehand.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @increment 0.01
@@ -164,7 +161,6 @@ PARAM_DEFINE_FLOAT(VT_PROP_EFF, 0.0f);
  *
  * Gain for tuning the low-pass filter for the total airspeed estimate
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @increment 0.01
@@ -275,7 +271,6 @@ PARAM_DEFINE_INT32(VT_WV_LND_EN, 0);
  * The desired yawrate from the controller will be scaled in order to avoid
  * yaw fighting against the wind.
  *
- * @unit
  * @min 0.0
  * @max 1.0
  * @increment 0.01