Improve parameter documentation, it still does not work, but is an improvement.

I just do not understand why these parameters do not appear in Mission planner :(

libraries/AP_Mount/AP_Mount.cpp

@@ -6,7 +6,6 @@
 #include <AP_Mount.h>
 
 const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
-    // index 0 was used for the old orientation matrix
 	// @Param: MODE
 	// @DisplayName: Mount operation mode
 	// @Description: Camera or antenna mount operation mode
@@ -17,27 +16,27 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
     // @Param: RETRACT
 	// @DisplayName: Mount retract angles
 	// @Description: Mount angles when in retract operation mode
-	// @Units: Degrees
+	// @Units: centi-Degrees
-	// @Range: -180 180
+	// @Range: -18000 17999
-	// @Increment: .01
+	// @Increment: 1
 	// @User: Standard
     AP_GROUPINFO("RETRACT",    1, AP_Mount, _retract_angles),
 
 	// @Param: NEUTRAL
 	// @DisplayName: Mount neutral angles
 	// @Description: Mount angles when in neutral operation mode
-	// @Units: Degrees
+	// @Units: centi-Degrees
-	// @Range: -180 180
+	// @Range: -18000 17999
-	// @Increment: .01
+	// @Increment: 1
 	// @User: Standard
     AP_GROUPINFO("NEUTRAL",    2, AP_Mount, _neutral_angles),
 
     // @Param: CONTROL
 	// @DisplayName: Mount control angles
 	// @Description: Mount angles when in MavLink or RC control operation mode
-	// @Units: Degrees
+	// @Units: centi-Degrees
-	// @Range: -180 180
+	// @Range: -18000 17999
-	// @Increment: .01
+	// @Increment: 1
 	// @User: Standard
     AP_GROUPINFO("CONTROL",    3, AP_Mount, _control_angles),
 

libraries/RC_Channel/RC_Channel.cpp

@@ -25,10 +25,44 @@
 APM_RC_Class *RC_Channel::_apm_rc;
 
 const AP_Param::GroupInfo RC_Channel::var_info[] PROGMEM = {
+	// @Param: MIN
+	// @DisplayName: RC min PWM
+	// @Description: RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
+	// @Units: ms
+	// @Range: 800 2200
+	// @Increment: 1
+	// @User: Advanced
 	AP_GROUPINFO("MIN",  0, RC_Channel, radio_min),
+
+	// @Param: TRIM
+	// @DisplayName: RC trim PWM
+	// @Description: RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
+	// @Units: ms
+	// @Range: 800 2200
+	// @Increment: 1
+	// @User: Advanced
 	AP_GROUPINFO("TRIM", 1, RC_Channel, radio_trim),
+
+	// @Param: MAX
+	// @DisplayName: RC max PWM
+	// @Description: RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
+	// @Units: ms
+	// @Range: 800 2200
+	// @Increment: 1
+	// @User: Advanced
 	AP_GROUPINFO("MAX",  2, RC_Channel, radio_max),
+
+	// @Param: REV
+	// @DisplayName: RC reverse
+	// @Description: Reverse servo operation. Ignored unless did switches are disabled.
+	// @Values: 1:Normal,-1:Reversed
+	// @User: Advanced
 	AP_GROUPINFO("REV",  3, RC_Channel, _reverse),
+
+	// @Param: DZ
+	// @DisplayName: RC dead-zone
+	// @Description: dead zone around trim.
+	// @User: Advanced
 	AP_GROUPINFO("DZ",   4, RC_Channel, _dead_zone),
 	AP_GROUPEND
 };

libraries/RC_Channel/RC_Channel_aux.cpp

@@ -16,18 +16,18 @@ const AP_Param::GroupInfo RC_Channel_aux::var_info[] PROGMEM = {
 	// @Param: ANGLE_MIN
 	// @DisplayName: Minimum object position
 	// @Description: Minimum physical angular position of the object that this servo output controls. For example a camera pan angle, an aileron angle, etc
-	// @Units: Degrees
+	// @Units: centi-Degrees
-	// @Range: -180 180
+	// @Range: -18000 17999
-	// @Increment: .01
+	// @Increment: 1
 	// @User: Standard
 	AP_GROUPINFO("ANGLE_MIN",      2, RC_Channel_aux, angle_min),
 
 	// @Param: ANGLE_MAX
 	// @DisplayName: Maximum object position
 	// @Description: Maximum physical angular position of the object that this servo output controls. For example a camera pan angle, an aileron angle, etc
-	// @Units: Degrees
+	// @Units: centi-Degrees
-	// @Range: -180 180
+	// @Range: -18000 17999
-	// @Increment: .01
+	// @Increment: 1
 	// @User: Standard
 	AP_GROUPINFO("ANGLE_MAX",      3, RC_Channel_aux, angle_max),
 	AP_GROUPEND
@@ -131,19 +131,11 @@ RC_Channel_aux::output_ch(unsigned char ch_nr)
 /// expects the changes to take effect instantly
 void update_aux_servo_function(RC_Channel_aux* rc_a, RC_Channel_aux* rc_b, RC_Channel_aux* rc_c, RC_Channel_aux* rc_d)
 {
-	// positions 0..3 of this array never get used, but this is a stack array, so the entire array gets freed at the end of the function
 	RC_Channel_aux::Aux_servo_function_t aux_servo_function[4];
-
+	aux_servo_function[0] = (rc_a == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_a->function.get();
-	// initialise array
+	aux_servo_function[1] = (rc_b == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_b->function.get();
-	aux_servo_function[0] = RC_Channel_aux::k_none;
+	aux_servo_function[2] = (rc_c == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_c->function.get();
-	aux_servo_function[1] = RC_Channel_aux::k_none;
+	aux_servo_function[3] = (rc_d == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_d->function.get();
-	aux_servo_function[2] = RC_Channel_aux::k_none;
-	aux_servo_function[3] = RC_Channel_aux::k_none;
-
-	if( rc_a != NULL ) { aux_servo_function[0] = (RC_Channel_aux::Aux_servo_function_t)rc_a->function.get(); }
-	if( rc_b != NULL ) { aux_servo_function[1] = (RC_Channel_aux::Aux_servo_function_t)rc_b->function.get(); }
-	if( rc_c != NULL ) { aux_servo_function[2] = (RC_Channel_aux::Aux_servo_function_t)rc_c->function.get(); }
-	if( rc_d != NULL ) { aux_servo_function[3] = (RC_Channel_aux::Aux_servo_function_t)rc_d->function.get(); }
 
 	for (uint8_t i = 0; i < 4; i++) {
 		if (aux_servo_function[i] >= RC_Channel_aux::k_nr_aux_servo_functions) {