params: make parameter units more consistent (#15502)

2026-10-26 06:43:35 +08:00 · 2020-08-24 11:33:08 +02:00
parent 9cebf3b969
commit 979243f38f
25 changed files with 127 additions and 109 deletions
@@ -5,7 +5,7 @@
    <parameter default="75" name="ctl_bw" type="INT32">
      <short_desc>Speed controller bandwidth</short_desc>
      <long_desc>Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.</long_desc>
-      <unit>Hertz</unit>
+      <unit>Hz</unit>
      <min>10</min>
      <max>250</max>
    </parameter>
@@ -24,7 +24,7 @@
            decreased. Higher values result in faster response, but may result
            in oscillation and excessive overshoot. Lower values result in a
            slower, smoother response.</long_desc>
-      <unit>amp-seconds per radian</unit>
+      <unit>C/rad</unit>
      <decimal>3</decimal>
      <min>0.00</min>
      <max>1.00</max>
@@ -32,7 +32,7 @@
    <parameter default="3.5" name="ctl_hz_idle" type="FLOAT">
      <short_desc>Idle speed (e Hz)</short_desc>
      <long_desc>Idle speed (e Hz)</long_desc>
-      <unit>Hertz</unit>
+      <unit>Hz</unit>
      <decimal>3</decimal>
      <min>0.0</min>
      <max>100.0</max>
@@ -40,14 +40,13 @@
    <parameter default="25" name="ctl_start_rate" type="INT32">
      <short_desc>Spin-up rate (e Hz/s)</short_desc>
      <long_desc>Spin-up rate (e Hz/s)</long_desc>
-      <unit>Hz/s</unit>
+      <unit>1/s^2</unit>
      <min>5</min>
      <max>1000</max>
    </parameter>
    <parameter default="0" name="esc_index" type="INT32">
      <short_desc>Index of this ESC in throttle command messages.</short_desc>
      <long_desc>Index of this ESC in throttle command messages.</long_desc>
-      <unit>Index</unit>
      <min>0</min>
      <max>15</max>
    </parameter>
@@ -60,14 +59,14 @@
    <parameter default="50000" name="int_ext_status" type="INT32">
      <short_desc>Extended status interval (µs)</short_desc>
      <long_desc>Extended status interval (µs)</long_desc>
-      <unit>µs</unit>
+      <unit>us</unit>
      <min>0</min>
      <max>1000000</max>
    </parameter>
    <parameter default="50000" name="int_status" type="INT32">
      <short_desc>ESC status interval (µs)</short_desc>
      <long_desc>ESC status interval (µs)</long_desc>
-      <unit>µs</unit>
+      <unit>us</unit>
      <max>1000000</max>
    </parameter>
    <parameter default="12" name="mot_i_max" type="FLOAT">
@@ -78,7 +77,7 @@
            the continuous current rating listed in the motor’s specification
            sheet, or set equal to the motor’s specified continuous power
            divided by the motor voltage limit.</long_desc>
-      <unit>Amps</unit>
+      <unit>A</unit>
      <decimal>3</decimal>
      <min>1</min>
      <max>80</max>
@@ -88,14 +87,14 @@
      <long_desc>Motor Kv in RPM per volt. This can be taken from the motor’s
            specification sheet; accuracy will help control performance but
            some deviation from the specified value is acceptable.</long_desc>
-      <unit>RPM/v</unit>
+      <unit>rpm/V</unit>
      <min>0</min>
      <max>4000</max>
    </parameter>
    <parameter default="0.0" name="mot_ls" type="FLOAT">
      <short_desc>READ ONLY: Motor inductance in henries.</short_desc>
      <long_desc>READ ONLY: Motor inductance in henries. This is measured on start-up.</long_desc>
-      <unit>henries</unit>
+      <unit>H</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="14" name="mot_num_poles" type="INT32">
@@ -103,7 +102,6 @@
      <long_desc>Number of motor poles. Used to convert mechanical speeds to
            electrical speeds. This number should be taken from the motor’s
            specification sheet.</long_desc>
-      <unit>Poles</unit>
      <min>2</min>
      <max>40</max>
    </parameter>
@@ -112,13 +110,13 @@
      <long_desc>READ ONLY: Motor resistance in ohms. This is measured on start-up. When
            tuning a new motor, check that this value is approximately equal
            to the value shown in the motor’s specification sheet.</long_desc>
-      <unit>Ohms</unit>
+      <unit>Ohm</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.5" name="mot_v_accel" type="FLOAT">
      <short_desc>Acceleration limit (V)</short_desc>
      <long_desc>Acceleration limit (V)</long_desc>
-      <unit>Volts</unit>
+      <unit>V</unit>
      <decimal>3</decimal>
      <min>0.01</min>
      <max>1.00</max>
@@ -130,7 +128,7 @@
            safely be above the nominal voltage of the motor; to determine the
            actual motor voltage limit, divide the motor’s rated power by the
            motor current limit.</long_desc>
-      <unit>Volts</unit>
+      <unit>V</unit>
      <decimal>3</decimal>
      <min>0</min>
    </parameter>
@@ -192,7 +190,7 @@
        used in the GNSS solution is below this threshold. Zero
        disables the feature
      </long_desc>
-      <unit>microseconds</unit>
+      <unit>us</unit>
      <min>0</min>
      <max>1000000</max>
    </parameter>
@@ -346,6 +346,21 @@ class SourceParser(object):
        Validates the parameter meta data.
        """
        seenParamNames = []
+        #allowedUnits should match set defined in /Firmware/validation/module_schema.yaml
+        allowedUnits = set ([
+                                '%', 'Hz', 'mAh',
+                                'rad', '%/rad', 'rad/s', 'rad/s^2', '%/rad/s',  'rad s^2/m','rad s/m',
+                                'bit/s', 'B/s',
+                                'deg', 'deg*1e7', 'deg/s',
+                                'celcius', 'gauss', 'gauss/s', 'mgauss', 'mgauss^2',
+                                'hPa', 'kg', 'kg/m^2', 'kg m^2',
+                                'mm', 'm', 'm/s', 'm^2', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', 'm/s/rad',
+                                'Ohm', 'V',
+                                'us', 'ms', 's',
+                                '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',
+                                'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD',''])
        for group in self.GetParamGroups():
            for param in group.GetParams():
                name  = param.GetName()
@@ -364,6 +379,10 @@ class SourceParser(object):
                default = param.GetDefault()
                min = param.GetFieldValue("min")
                max = param.GetFieldValue("max")
+                units = param.GetFieldValue("unit")
+                if units not in allowedUnits: 
+                    sys.stderr.write("Invalid unit in {0}: {1}\n".format(name, units))
+                    return False
                #sys.stderr.write("{0} default:{1} min:{2} max:{3}\n".format(name, default, min, max))
                if default != "" and not self.IsNumber(default):
                    sys.stderr.write("Default value not number: {0} {1}\n".format(name, default))