From ff9b8118ab6f1e6ba9896b5c525e90a0e620c6d2 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Fri, 25 Mar 2016 17:24:48 -0400
Subject: [PATCH] fw_att_control add units

---
 .../fw_att_control/fw_att_control_params.c       | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c
index ee4f56588b..d592a6c796 100644
--- a/src/modules/fw_att_control/fw_att_control_params.c
+++ b/src/modules/fw_att_control/fw_att_control_params.c
@@ -83,6 +83,7 @@ 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 %/rad/s
  * @min 0.005
  * @max 1.0
  * @group FW Attitude Control
@@ -95,6 +96,7 @@ 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 %/rad
  * @min 0.005
  * @max 0.5
  * @group FW Attitude Control
@@ -133,6 +135,7 @@ 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
@@ -145,6 +148,7 @@ 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 %/rad/s
  * @min 0.005
  * @max 1.0
  * @group FW Attitude Control
@@ -157,6 +161,7 @@ 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 %/rad
  * @min 0.005
  * @max 0.2
  * @group FW Attitude Control
@@ -168,6 +173,7 @@ 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
@@ -193,6 +199,7 @@ 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 %/rad/s
  * @min 0.005
  * @max 1.0
  * @group FW Attitude Control
@@ -205,6 +212,7 @@ 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 %/rad
  * @min 0.0
  * @max 50.0
  * @group FW Attitude Control
@@ -217,6 +225,7 @@ 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
@@ -242,6 +251,7 @@ 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 %/rad/s
  * @min 0.005
  * @max 1.0
  * @group FW Attitude Control
@@ -254,6 +264,7 @@ 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 %/rad
  * @min 0.0
  * @max 50.0
  * @group FW Attitude Control
@@ -266,6 +277,7 @@ 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
@@ -292,6 +304,7 @@ PARAM_DEFINE_FLOAT(FW_W_RMAX, 0.0f);
  * to obtain a tigher response of the controller without introducing
  * noise amplification.
  *
+ * @unit %/rad/s
  * @min 0.0
  * @max 10.0
  * @group FW Attitude Control
@@ -303,6 +316,7 @@ PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f);
  *
  * Direct feed forward from rate setpoint to control surface output
  *
+ * @unit %/rad/s
  * @min 0.0
  * @max 10.0
  * @group FW Attitude Control
@@ -314,6 +328,7 @@ PARAM_DEFINE_FLOAT(FW_PR_FF, 0.5f);
  *
  * Direct feed forward from rate setpoint to control surface output
  *
+ * @unit %/rad/s
  * @min 0.0
  * @max 10.0
  * @group FW Attitude Control
@@ -325,6 +340,7 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
  *
  * Direct feed forward from rate setpoint to control surface output
  *
+ * @unit %/rad/s
  * @min 0.0
  * @max 10.0
  * @group FW Attitude Control