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AP_RangeFinder: Use SI units conventions in parameter units 

Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
This commit is contained in:
Dr.-Ing. Amilcar Do Carmo Lucas 2017-05-02 15:48:03 +02:00 committed by Andrew Tridgell
parent a1de89a812
commit 78b7207ab4
1 changed files with 25 additions and 25 deletions
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50
libraries/AP_RangeFinder/RangeFinder.cpp
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@ -50,7 +50,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: _SCALING // @Param: _SCALING
// @DisplayName: Rangefinder scaling // @DisplayName: Rangefinder scaling
// @Description: Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. // @Description: Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
// @Units: meters/Volt // @Units: m/V
// @Increment: 0.001 // @Increment: 0.001
// @User: Standard // @User: Standard
AP_GROUPINFO("_SCALING", 2, RangeFinder, _scaling[0], 3.0f), AP_GROUPINFO("_SCALING", 2, RangeFinder, _scaling[0], 3.0f),
@ -58,7 +58,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: _OFFSET // @Param: _OFFSET
// @DisplayName: rangefinder offset // @DisplayName: rangefinder offset
// @Description: Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars // @Description: Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars
// @Units: Volts // @Units: V
// @Increment: 0.001 // @Increment: 0.001
// @User: Standard // @User: Standard
AP_GROUPINFO("_OFFSET", 3, RangeFinder, _offset[0], 0.0f), AP_GROUPINFO("_OFFSET", 3, RangeFinder, _offset[0], 0.0f),
@ -73,7 +73,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: _MIN_CM // @Param: _MIN_CM
// @DisplayName: Rangefinder minimum distance // @DisplayName: Rangefinder minimum distance
// @Description: Minimum distance in centimeters that rangefinder can reliably read // @Description: Minimum distance in centimeters that rangefinder can reliably read
// @Units: centimeters // @Units: cm
// @Increment: 1 // @Increment: 1
// @User: Standard // @User: Standard
AP_GROUPINFO("_MIN_CM", 5, RangeFinder, _min_distance_cm[0], 20), AP_GROUPINFO("_MIN_CM", 5, RangeFinder, _min_distance_cm[0], 20),
@ -81,7 +81,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: _MAX_CM // @Param: _MAX_CM
// @DisplayName: Rangefinder maximum distance // @DisplayName: Rangefinder maximum distance
// @Description: Maximum distance in centimeters that rangefinder can reliably read // @Description: Maximum distance in centimeters that rangefinder can reliably read
// @Units: centimeters // @Units: cm
// @Increment: 1 // @Increment: 1
// @User: Standard // @User: Standard
AP_GROUPINFO("_MAX_CM", 6, RangeFinder, _max_distance_cm[0], 700), AP_GROUPINFO("_MAX_CM", 6, RangeFinder, _max_distance_cm[0], 700),
@ -96,7 +96,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: _SETTLE // @Param: _SETTLE
// @DisplayName: Rangefinder settle time // @DisplayName: Rangefinder settle time
// @Description: The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again. // @Description: The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.
// @Units: milliseconds // @Units: ms
// @Increment: 1 // @Increment: 1
// @User: Standard // @User: Standard
AP_GROUPINFO("_SETTLE", 8, RangeFinder, _settle_time_ms[0], 0), AP_GROUPINFO("_SETTLE", 8, RangeFinder, _settle_time_ms[0], 0),
@ -111,7 +111,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: _PWRRNG // @Param: _PWRRNG
// @DisplayName: Powersave range // @DisplayName: Powersave range
// @Description: This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled // @Description: This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
// @Units: meters // @Units: m
// @Range: 0 32767 // @Range: 0 32767
// @User: Standard // @User: Standard
AP_GROUPINFO("_PWRRNG", 10, RangeFinder, _powersave_range, 0), AP_GROUPINFO("_PWRRNG", 10, RangeFinder, _powersave_range, 0),
@ -119,7 +119,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: _GNDCLEAR // @Param: _GNDCLEAR
// @DisplayName: Distance (in cm) from the range finder to the ground // @DisplayName: Distance (in cm) from the range finder to the ground
// @Description: This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. // @Description: This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
// @Units: centimeters // @Units: cm
// @Range: 5 127 // @Range: 5 127
// @Increment: 1 // @Increment: 1
// @User: Standard // @User: Standard
@ -177,7 +177,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 2_SCALING // @Param: 2_SCALING
// @DisplayName: Rangefinder scaling // @DisplayName: Rangefinder scaling
// @Description: Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. // @Description: Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
// @Units: meters/Volt // @Units: m/V
// @Increment: 0.001 // @Increment: 0.001
// @User: Advanced // @User: Advanced
AP_GROUPINFO("2_SCALING", 14, RangeFinder, _scaling[1], 3.0f), AP_GROUPINFO("2_SCALING", 14, RangeFinder, _scaling[1], 3.0f),
@ -185,7 +185,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 2_OFFSET // @Param: 2_OFFSET
// @DisplayName: rangefinder offset // @DisplayName: rangefinder offset
// @Description: Offset in volts for zero distance // @Description: Offset in volts for zero distance
// @Units: Volts // @Units: V
// @Increment: 0.001 // @Increment: 0.001
// @User: Advanced // @User: Advanced
AP_GROUPINFO("2_OFFSET", 15, RangeFinder, _offset[1], 0.0f), AP_GROUPINFO("2_OFFSET", 15, RangeFinder, _offset[1], 0.0f),
@ -200,7 +200,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 2_MIN_CM // @Param: 2_MIN_CM
// @DisplayName: Rangefinder minimum distance // @DisplayName: Rangefinder minimum distance
// @Description: Minimum distance in centimeters that rangefinder can reliably read // @Description: Minimum distance in centimeters that rangefinder can reliably read
// @Units: centimeters // @Units: cm
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("2_MIN_CM", 17, RangeFinder, _min_distance_cm[1], 20), AP_GROUPINFO("2_MIN_CM", 17, RangeFinder, _min_distance_cm[1], 20),
@ -208,7 +208,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 2_MAX_CM // @Param: 2_MAX_CM
// @DisplayName: Rangefinder maximum distance // @DisplayName: Rangefinder maximum distance
// @Description: Maximum distance in centimeters that rangefinder can reliably read // @Description: Maximum distance in centimeters that rangefinder can reliably read
// @Units: centimeters // @Units: cm
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("2_MAX_CM", 18, RangeFinder, _max_distance_cm[1], 700), AP_GROUPINFO("2_MAX_CM", 18, RangeFinder, _max_distance_cm[1], 700),
@ -223,7 +223,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 2_SETTLE // @Param: 2_SETTLE
// @DisplayName: Sonar settle time // @DisplayName: Sonar settle time
// @Description: The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again. // @Description: The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.
// @Units: milliseconds // @Units: ms
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("2_SETTLE", 20, RangeFinder, _settle_time_ms[1], 0), AP_GROUPINFO("2_SETTLE", 20, RangeFinder, _settle_time_ms[1], 0),
@ -238,7 +238,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 2_GNDCLEAR // @Param: 2_GNDCLEAR
// @DisplayName: Distance (in cm) from the second range finder to the ground // @DisplayName: Distance (in cm) from the second range finder to the ground
// @Description: This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground. // @Description: This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground.
// @Units: centimeters // @Units: cm
// @Range: 0 127 // @Range: 0 127
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
@ -298,7 +298,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 3_SCALING // @Param: 3_SCALING
// @DisplayName: Rangefinder scaling // @DisplayName: Rangefinder scaling
// @Description: Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. // @Description: Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
// @Units: meters/Volt // @Units: m/V
// @Increment: 0.001 // @Increment: 0.001
// @User: Advanced // @User: Advanced
AP_GROUPINFO("3_SCALING", 27, RangeFinder, _scaling[2], 3.0f), AP_GROUPINFO("3_SCALING", 27, RangeFinder, _scaling[2], 3.0f),
@ -306,7 +306,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 3_OFFSET // @Param: 3_OFFSET
// @DisplayName: rangefinder offset // @DisplayName: rangefinder offset
// @Description: Offset in volts for zero distance // @Description: Offset in volts for zero distance
// @Units: Volts // @Units: V
// @Increment: 0.001 // @Increment: 0.001
// @User: Advanced // @User: Advanced
AP_GROUPINFO("3_OFFSET", 28, RangeFinder, _offset[2], 0.0f), AP_GROUPINFO("3_OFFSET", 28, RangeFinder, _offset[2], 0.0f),
@ -321,7 +321,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 3_MIN_CM // @Param: 3_MIN_CM
// @DisplayName: Rangefinder minimum distance // @DisplayName: Rangefinder minimum distance
// @Description: Minimum distance in centimeters that rangefinder can reliably read // @Description: Minimum distance in centimeters that rangefinder can reliably read
// @Units: centimeters // @Units: cm
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("3_MIN_CM", 30, RangeFinder, _min_distance_cm[2], 20), AP_GROUPINFO("3_MIN_CM", 30, RangeFinder, _min_distance_cm[2], 20),
@ -329,7 +329,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 3_MAX_CM // @Param: 3_MAX_CM
// @DisplayName: Rangefinder maximum distance // @DisplayName: Rangefinder maximum distance
// @Description: Maximum distance in centimeters that rangefinder can reliably read // @Description: Maximum distance in centimeters that rangefinder can reliably read
// @Units: centimeters // @Units: cm
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("3_MAX_CM", 31, RangeFinder, _max_distance_cm[2], 700), AP_GROUPINFO("3_MAX_CM", 31, RangeFinder, _max_distance_cm[2], 700),
@ -344,7 +344,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 3_SETTLE // @Param: 3_SETTLE
// @DisplayName: Sonar settle time // @DisplayName: Sonar settle time
// @Description: The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again. // @Description: The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.
// @Units: milliseconds // @Units: ms
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("3_SETTLE", 33, RangeFinder, _settle_time_ms[2], 0), AP_GROUPINFO("3_SETTLE", 33, RangeFinder, _settle_time_ms[2], 0),
@ -359,7 +359,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 3_GNDCLEAR // @Param: 3_GNDCLEAR
// @DisplayName: Distance (in cm) from the third range finder to the ground // @DisplayName: Distance (in cm) from the third range finder to the ground
// @Description: This parameter sets the expected range measurement(in cm) that the third range finder should return when the vehicle is on the ground. // @Description: This parameter sets the expected range measurement(in cm) that the third range finder should return when the vehicle is on the ground.
// @Units: centimeters // @Units: cm
// @Range: 0 127 // @Range: 0 127
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
@ -419,7 +419,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 4_SCALING // @Param: 4_SCALING
// @DisplayName: Rangefinder scaling // @DisplayName: Rangefinder scaling
// @Description: Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. // @Description: Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
// @Units: meters/Volt // @Units: m/V
// @Increment: 0.001 // @Increment: 0.001
// @User: Advanced // @User: Advanced
AP_GROUPINFO("4_SCALING", 39, RangeFinder, _scaling[3], 3.0f), AP_GROUPINFO("4_SCALING", 39, RangeFinder, _scaling[3], 3.0f),
@ -427,7 +427,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 4_OFFSET // @Param: 4_OFFSET
// @DisplayName: rangefinder offset // @DisplayName: rangefinder offset
// @Description: Offset in volts for zero distance // @Description: Offset in volts for zero distance
// @Units: Volts // @Units: V
// @Increment: 0.001 // @Increment: 0.001
// @User: Advanced // @User: Advanced
AP_GROUPINFO("4_OFFSET", 40, RangeFinder, _offset[3], 0.0f), AP_GROUPINFO("4_OFFSET", 40, RangeFinder, _offset[3], 0.0f),
@ -442,7 +442,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 4_MIN_CM // @Param: 4_MIN_CM
// @DisplayName: Rangefinder minimum distance // @DisplayName: Rangefinder minimum distance
// @Description: Minimum distance in centimeters that rangefinder can reliably read // @Description: Minimum distance in centimeters that rangefinder can reliably read
// @Units: centimeters // @Units: cm
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("4_MIN_CM", 42, RangeFinder, _min_distance_cm[3], 20), AP_GROUPINFO("4_MIN_CM", 42, RangeFinder, _min_distance_cm[3], 20),
@ -450,7 +450,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 4_MAX_CM // @Param: 4_MAX_CM
// @DisplayName: Rangefinder maximum distance // @DisplayName: Rangefinder maximum distance
// @Description: Maximum distance in centimeters that rangefinder can reliably read // @Description: Maximum distance in centimeters that rangefinder can reliably read
// @Units: centimeters // @Units: cm
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("4_MAX_CM", 43, RangeFinder, _max_distance_cm[3], 700), AP_GROUPINFO("4_MAX_CM", 43, RangeFinder, _max_distance_cm[3], 700),
@ -465,7 +465,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 4_SETTLE // @Param: 4_SETTLE
// @DisplayName: Sonar settle time // @DisplayName: Sonar settle time
// @Description: The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again. // @Description: The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.
// @Units: milliseconds // @Units: ms
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("4_SETTLE", 45, RangeFinder, _settle_time_ms[3], 0), AP_GROUPINFO("4_SETTLE", 45, RangeFinder, _settle_time_ms[3], 0),
@ -480,7 +480,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 4_GNDCLEAR // @Param: 4_GNDCLEAR
// @DisplayName: Distance (in cm) from the fourth range finder to the ground // @DisplayName: Distance (in cm) from the fourth range finder to the ground
// @Description: This parameter sets the expected range measurement(in cm) that the fourth range finder should return when the vehicle is on the ground. // @Description: This parameter sets the expected range measurement(in cm) that the fourth range finder should return when the vehicle is on the ground.
// @Units: centimeters // @Units: cm
// @Range: 0 127 // @Range: 0 127
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced