From f930f3e55793ac1aa610413f9d1f003577561995 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 13 Mar 2016 14:55:24 -0400
Subject: [PATCH] mc_pos_control param @unit

---
 .../mc_pos_control/mc_pos_control_params.c    | 27 +++++++++++++++----
 1 file changed, 22 insertions(+), 5 deletions(-)

diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index 079bf85a82..17ce75bc09 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -43,6 +43,7 @@
  *
  * It's recommended to set it > 0 to avoid free fall with zero thrust.
  *
+ * @unit
  * @min 0.05
  * @max 1.0
  * @decimal 3
@@ -60,6 +61,7 @@ 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
@@ -73,6 +75,7 @@ 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
@@ -86,6 +89,7 @@ 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
@@ -100,6 +104,7 @@ 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
@@ -112,6 +117,7 @@ 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
@@ -127,6 +133,7 @@ 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
@@ -137,6 +144,7 @@ PARAM_DEFINE_FLOAT(MPC_MANTHR_MAX, 0.9f);
 /**
  * Proportional gain for vertical position error
  *
+ * @unit
  * @min 0.0
  * @decimal 2
  * @group Multicopter Position Control
@@ -146,6 +154,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
 /**
  * Proportional gain for vertical velocity error
  *
+ * @unit
  * @min 0.0
  * @decimal 2
  * @group Multicopter Position Control
@@ -157,6 +166,7 @@ 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
@@ -166,6 +176,7 @@ 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
@@ -190,6 +201,7 @@ 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
@@ -200,6 +212,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f);
 /**
  * Proportional gain for horizontal position error
  *
+ * @unit
  * @min 0.0
  * @decimal 2
  * @group Multicopter Position Control
@@ -209,6 +222,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_P, 1.25f);
 /**
  * Proportional gain for horizontal velocity error
  *
+ * @unit
  * @min 0.0
  * @decimal 2
  * @group Multicopter Position Control
@@ -220,6 +234,7 @@ 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
@@ -229,6 +244,7 @@ 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
@@ -266,6 +282,7 @@ 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
@@ -278,7 +295,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);
  *
  * Limits maximum tilt in AUTO and POSCTRL modes during flight.
  *
- * @unit degree
+ * @unit deg
  * @min 0.0
  * @max 90.0
  * @decimal 1
@@ -291,7 +308,7 @@ PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f);
  *
  * Limits maximum tilt angle on landing.
  *
- * @unit degree
+ * @unit deg
  * @min 0.0
  * @max 90.0
  * @decimal 1
@@ -322,7 +339,7 @@ PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f);
 /**
  * Max manual roll
  *
- * @unit degree
+ * @unit deg
  * @min 0.0
  * @max 90.0
  * @decimal 1
@@ -333,7 +350,7 @@ PARAM_DEFINE_FLOAT(MPC_MAN_R_MAX, 35.0f);
 /**
  * Max manual pitch
  *
- * @unit degree
+ * @unit deg
  * @min 0.0
  * @max 90.0
  * @decimal 1
@@ -344,7 +361,7 @@ PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX, 35.0f);
 /**
  * Max manual yaw rate
  *
- * @unit degree / s
+ * @unit deg/s
  * @min 0.0
  * @decimal 1
  * @group Multicopter Position Control