commander: Changes resulting from code review

Change units of parameters from uSec to sec.
Change recommended FW value for COM_POS_FS_GAIN from 2 to 0
Fix error in parameter description for COM_POS_FS_PROB
Fix error in unit for COM_POS_FS_GAIN

src/modules/commander/commander_params.c

@@ -641,37 +641,36 @@ PARAM_DEFINE_INT32(COM_ARM_AUTH, 256010);
 /**
  * Loss of position failsafe activation delay.
  *
- * This sets number of uSec that the position checks need to be failed before the failsafe will activate.
- * The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5E6 and 10E6 should be used.
+ * This sets number of second that the position checks need to be failed before the failsafe will activate.
+ * The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.
  *
- * @unit uSec
+ * @unit sec
  * @reboot_required true
  * @group Commander
  */
-PARAM_DEFINE_INT32(COM_POS_FS_DELAY, 1E6);
+PARAM_DEFINE_INT32(COM_POS_FS_DELAY, 1);
 
 /**
  * Loss of position probation delay at takeoff.
  *
- * The probation delay is number of uSec that the EKF innovation checks need to pass for the positon to be declared good once it has been declared bad.
+ * The probation delay is number of seconds that the EKF innovation checks need to pass for the positon to be declared good after it has been declared bad.
  * The probation delay will be reset to this parameter value when takeoff is detected.
- * After takeoff, if position checks are passing, the probation delay will reduce by one uSec for every lapsed uSec of valid position down to a minimum of 1E6 uSec.
- * If position checks are failing, the probation delay will increase by COM_POS_FS_FACT micro seconds for every lapsed uSec up to a maximum of 100E6 uSec.
- * The default value has been optimised for rotary wing applications. For fixed wing applications, a value of 1E6 should be used.
+ * After takeoff, if position checks are passing, the probation delay will reduce by one second for every lapsed second of valid position down to a minimum of 1 second.
+ * If position checks are failing, the probation delay will increase by COM_POS_FS_GAIN seconds for every lapsed second up to a maximum of 100 seconds.
+ * The default value has been optimised for rotary wing applications. For fixed wing applications, a value of 1 should be used.
  *
- * @unit uSec
+ * @unit sec
  * @reboot_required true
  * @group Commander
  */
-PARAM_DEFINE_INT32(COM_POS_FS_PROB, 30E6);
+PARAM_DEFINE_INT32(COM_POS_FS_PROB, 30);
 
 /**
  * Loss of position probation gain factor.
  *
  * This sets the rate that the loss of position probation time grows when position checks are failing.
- * The default value has been optimised for rotary wing applications. For fixed wing applications a value of 2 should be used.
+ * The default value has been optimised for rotary wing applications. For fixed wing applications a value of 0 should be used.
  *
- * @unit uSec
  * @reboot_required true
  * @group Commander
  */