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AP_InertialSensor: Update position offset parameter documentation

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Notify users of the potential for velocity noise when using larger offset values..
Specific advice in terms of values has not been provided because it is highly dependent on Gyro noise levels.
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priseborough 2016-10-14 09:57:41 +11:00 committed by Andrew Tridgell
parent 13ca62b1c7
commit 54a431a51d
1 changed files with 9 additions and 9 deletions
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18
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -321,57 +321,57 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Param: POS1_X
// @DisplayName: IMU accelerometer X position
// @Description: X position of the first IMU Accelerometer in body frame.
// @Description: X position of the first IMU Accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
// @Param: POS1_Y
// @DisplayName: IMU accelerometer Y position
// @Description: Y position of the first IMU accelerometer in body frame.
// @Description: Y position of the first IMU accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
// @Param: POS1_Z
// @DisplayName: IMU accelerometer Z position
// @Description: Z position of the first IMU accelerometer in body frame.
// @Description: Z position of the first IMU accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
AP_GROUPINFO("POS1", 27, AP_InertialSensor, _accel_pos[0], 0.0f),
// @Param: POS2_X
// @DisplayName: IMU accelerometer X position
// @Description: X position of the second IMU accelerometer in body frame.
// @Description: X position of the second IMU accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
// @Param: POS2_Y
// @DisplayName: IMU accelerometer Y position
// @Description: Y position of the second IMU accelerometer in body frame.
// @Description: Y position of the second IMU accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
// @Param: POS2_Z
// @DisplayName: IMU accelerometer Z position
// @Description: Z position of the second IMU accelerometer in body frame.
// @Description: Z position of the second IMU accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
AP_GROUPINFO("POS2", 28, AP_InertialSensor, _accel_pos[1], 0.0f),
// @Param: POS3_X
// @DisplayName: IMU accelerometer X position
// @Description: X position of the third IMU accelerometer in body frame.
// @Description: X position of the third IMU accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
// @Param: POS3_Y
// @DisplayName: IMU accelerometer Y position
// @Description: Y position of the third IMU accelerometer in body frame.
// @Description: Y position of the third IMU accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
// @Param: POS3_Z
// @DisplayName: IMU accelerometer Z position
// @Description: Z position of the third IMU accelerometer in body frame.
// @Description: Z position of the third IMU accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
AP_GROUPINFO("POS3", 29, AP_InertialSensor, _accel_pos[2], 0.0f),