From 9d9ebc91cdf6ee2bdd68d86c2989f357798c72ff Mon Sep 17 00:00:00 2001 From: "Dr.-Ing. Amilcar Do Carmo Lucas" Date: Tue, 2 May 2017 15:45:39 +0200 Subject: [PATCH] AP_Motors: 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 --- libraries/AP_Motors/AP_MotorsHeli.cpp | 8 ++++---- libraries/AP_Motors/AP_MotorsHeli_Dual.cpp | 16 ++++++++-------- libraries/AP_Motors/AP_MotorsHeli_Single.cpp | 8 ++++---- libraries/AP_Motors/AP_MotorsMulticopter.cpp | 16 +++++++++------- 4 files changed, 25 insertions(+), 23 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp index 1e77358cff..274f4a4a5b 100644 --- a/libraries/AP_Motors/AP_MotorsHeli.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli.cpp @@ -85,7 +85,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] = { // @DisplayName: Landing Collective Minimum // @Description: Minimum collective position while landed or landing // @Range: 0 500 - // @Units: pwm + // @Units: PWM // @Increment: 1 // @User: Standard AP_GROUPINFO("LAND_COL_MIN", 9, AP_MotorsHeli, _land_collective_min, AP_MOTORS_HELI_LAND_COLLECTIVE_MIN), @@ -94,7 +94,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] = { // @DisplayName: RSC Ramp Time // @Description: Time in seconds for the output to the main rotor's ESC to reach full speed // @Range: 0 60 - // @Units: Seconds + // @Units: s // @User: Standard AP_GROUPINFO("RSC_RAMP_TIME", 10, AP_MotorsHeli, _rsc_ramp_time, AP_MOTORS_HELI_RSC_RAMP_TIME), @@ -102,7 +102,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] = { // @DisplayName: RSC Runup Time // @Description: Time in seconds for the main rotor to reach full speed. Must be longer than RSC_RAMP_TIME // @Range: 0 60 - // @Units: Seconds + // @Units: s // @User: Standard AP_GROUPINFO("RSC_RUNUP_TIME", 11, AP_MotorsHeli, _rsc_runup_time, AP_MOTORS_HELI_RSC_RUNUP_TIME), @@ -142,7 +142,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] = { // @DisplayName: Cyclic Pitch Angle Max // @Description: Maximum pitch angle of the swash plate // @Range: 0 18000 - // @Units: Centi-Degrees + // @Units: cdeg // @Increment: 100 // @User: Advanced AP_GROUPINFO("CYC_MAX", 16, AP_MotorsHeli, _cyclic_max, AP_MOTORS_HELI_SWASH_CYCLIC_MAX), diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp index 4a20692331..c1d95f508c 100644 --- a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp @@ -27,7 +27,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Dual::var_info[] = { // @DisplayName: Servo 1 Position // @Description: Angular location of swash servo #1 // @Range: -180 180 - // @Units: Degrees + // @Units: deg // @User: Standard // @Increment: 1 AP_GROUPINFO("SV1_POS", 1, AP_MotorsHeli_Dual, _servo1_pos, AP_MOTORS_HELI_DUAL_SERVO1_POS), @@ -36,7 +36,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Dual::var_info[] = { // @DisplayName: Servo 2 Position // @Description: Angular location of swash servo #2 // @Range: -180 180 - // @Units: Degrees + // @Units: deg // @User: Standard // @Increment: 1 AP_GROUPINFO("SV2_POS", 2, AP_MotorsHeli_Dual, _servo2_pos, AP_MOTORS_HELI_DUAL_SERVO2_POS), @@ -45,7 +45,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Dual::var_info[] = { // @DisplayName: Servo 3 Position // @Description: Angular location of swash servo #3 // @Range: -180 180 - // @Units: Degrees + // @Units: deg // @User: Standard // @Increment: 1 AP_GROUPINFO("SV3_POS", 3, AP_MotorsHeli_Dual, _servo3_pos, AP_MOTORS_HELI_DUAL_SERVO3_POS), @@ -54,7 +54,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Dual::var_info[] = { // @DisplayName: Servo 4 Position // @Description: Angular location of swash servo #4 // @Range: -180 180 - // @Units: Degrees + // @Units: deg // @User: Standard // @Increment: 1 AP_GROUPINFO("SV4_POS", 4, AP_MotorsHeli_Dual, _servo4_pos, AP_MOTORS_HELI_DUAL_SERVO4_POS), @@ -63,7 +63,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Dual::var_info[] = { // @DisplayName: Servo 5 Position // @Description: Angular location of swash servo #5 // @Range: -180 180 - // @Units: Degrees + // @Units: deg // @User: Standard // @Increment: 1 AP_GROUPINFO("SV5_POS", 5, AP_MotorsHeli_Dual, _servo5_pos, AP_MOTORS_HELI_DUAL_SERVO5_POS), @@ -72,7 +72,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Dual::var_info[] = { // @DisplayName: Servo 6 Position // @Description: Angular location of swash servo #6 // @Range: -180 180 - // @Units: Degrees + // @Units: deg // @User: Standard // @Increment: 1 AP_GROUPINFO("SV6_POS", 6, AP_MotorsHeli_Dual, _servo6_pos, AP_MOTORS_HELI_DUAL_SERVO6_POS), @@ -81,7 +81,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Dual::var_info[] = { // @DisplayName: Swashplate 1 Phase Angle Compensation // @Description: Phase angle correction for rotor head. If pitching the swash forward induces a roll, this can be correct the problem // @Range: -90 90 - // @Units: Degrees + // @Units: deg // @User: Advanced // @Increment: 1 AP_GROUPINFO("PHANG1", 7, AP_MotorsHeli_Dual, _swash1_phase_angle, 0), @@ -90,7 +90,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Dual::var_info[] = { // @DisplayName: Swashplate 2 Phase Angle Compensation // @Description: Phase angle correction for rotor head. If pitching the swash forward induces a roll, this can be correct the problem // @Range: -90 90 - // @Units: Degrees + // @Units: deg // @User: Advanced // @Increment: 1 AP_GROUPINFO("PHANG2", 8, AP_MotorsHeli_Dual, _swash2_phase_angle, 0), diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp index 378fcf74ff..d204a0a342 100644 --- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp @@ -28,7 +28,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = { // @DisplayName: Servo 1 Position // @Description: Angular location of swash servo #1 // @Range: -180 180 - // @Units: Degrees + // @Units: deg // @User: Standard // @Increment: 1 AP_GROUPINFO("SV1_POS", 1, AP_MotorsHeli_Single, _servo1_pos, AP_MOTORS_HELI_SINGLE_SERVO1_POS), @@ -37,7 +37,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = { // @DisplayName: Servo 2 Position // @Description: Angular location of swash servo #2 // @Range: -180 180 - // @Units: Degrees + // @Units: deg // @User: Standard // @Increment: 1 AP_GROUPINFO("SV2_POS", 2, AP_MotorsHeli_Single, _servo2_pos, AP_MOTORS_HELI_SINGLE_SERVO2_POS), @@ -46,7 +46,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = { // @DisplayName: Servo 3 Position // @Description: Angular location of swash servo #3 // @Range: -180 180 - // @Units: Degrees + // @Units: deg // @User: Standard // @Increment: 1 AP_GROUPINFO("SV3_POS", 3, AP_MotorsHeli_Single, _servo3_pos, AP_MOTORS_HELI_SINGLE_SERVO3_POS), @@ -78,7 +78,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = { // @DisplayName: Swashplate Phase Angle Compensation // @Description: Phase angle correction for rotor head. If pitching the swash forward induces a roll, this can be correct the problem // @Range: -90 90 - // @Units: Degrees + // @Units: deg // @User: Advanced // @Increment: 1 AP_GROUPINFO("PHANG", 7, AP_MotorsHeli_Single, _phase_angle, 0), diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.cpp b/libraries/AP_Motors/AP_MotorsMulticopter.cpp index 43dcde6257..5f52203cc4 100644 --- a/libraries/AP_Motors/AP_MotorsMulticopter.cpp +++ b/libraries/AP_Motors/AP_MotorsMulticopter.cpp @@ -34,7 +34,7 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = { // @DisplayName: Matrix Yaw Min // @Description: Yaw control is given at least this pwm range // @Range: 0 500 - // @Units: pwm + // @Units: PWM // @User: Advanced AP_GROUPINFO("YAW_HEADROOM", 6, AP_MotorsMulticopter, _yaw_headroom, AP_MOTORS_YAW_HEADROOM_DEFAULT), @@ -58,7 +58,7 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = { // @DisplayName: Battery voltage compensation maximum voltage // @Description: Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.4 * cell count, 0 = Disabled // @Range: 6 35 - // @Units: Volts + // @Units: V // @User: Advanced AP_GROUPINFO("BAT_VOLT_MAX", 10, AP_MotorsMulticopter, _batt_voltage_max, AP_MOTORS_BAT_VOLT_MAX_DEFAULT), @@ -66,7 +66,7 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = { // @DisplayName: Battery voltage compensation minimum voltage // @Description: Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.5 * cell count, 0 = Disabled // @Range: 6 35 - // @Units: Volts + // @Units: V // @User: Advanced AP_GROUPINFO("BAT_VOLT_MIN", 11, AP_MotorsMulticopter, _batt_voltage_min, AP_MOTORS_BAT_VOLT_MIN_DEFAULT), @@ -74,7 +74,7 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = { // @DisplayName: Motor Current Max // @Description: Maximum current over which maximum throttle is limited (0 = Disabled) // @Range: 0 200 - // @Units: Amps + // @Units: A // @User: Advanced AP_GROUPINFO("BAT_CURR_MAX", 12, AP_MotorsMulticopter, _batt_current_max, AP_MOTORS_BAT_CURR_MAX_DEFAULT), @@ -91,6 +91,7 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = { // @Param: PWM_MIN // @DisplayName: PWM output miniumum // @Description: This sets the min PWM output value that will ever be output to the motors, 0 = use input RC3_MIN + // @Units: PWM // @Range: 0 2000 // @User: Advanced AP_GROUPINFO("PWM_MIN", 16, AP_MotorsMulticopter, _pwm_min, 0), @@ -98,6 +99,7 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = { // @Param: PWM_MAX // @DisplayName: PWM output maximum // @Description: This sets the max PWM value that will ever be output to the motors, 0 = use input RC3_MAX + // @Units: PWM // @Range: 0 2000 // @User: Advanced AP_GROUPINFO("PWM_MAX", 17, AP_MotorsMulticopter, _pwm_max, 0), @@ -120,7 +122,7 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = { // @DisplayName: Motor Current Max Time Constant // @Description: Time constant used to limit the maximum current // @Range: 0 10 - // @Units: Seconds + // @Units: s // @User: Advanced AP_GROUPINFO("BAT_CURR_TC", 20, AP_MotorsMulticopter, _batt_current_time_constant, AP_MOTORS_BAT_CURR_TC_DEFAULT), @@ -149,7 +151,7 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = { // @DisplayName: Yaw Servo Max Lean Angle // @Description: Yaw servo's maximum lean angle // @Range: 5 80 - // @Units: Degrees + // @Units: deg // @Increment: 1 // @User: Standard AP_GROUPINFO_FRAME("YAW_SV_ANGLE", 35, AP_MotorsMulticopter, _yaw_servo_angle_max_deg, 30, AP_PARAM_FRAME_TRICOPTER), @@ -158,7 +160,7 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = { // @DisplayName: Spool up time // @Description: Time in seconds to spool up the motors from zero to min throttle. // @Range: 0 2 - // @Units: Seconds + // @Units: s // @Increment: 0.1 // @User: Advanced AP_GROUPINFO("SPOOL_TIME", 36, AP_MotorsMulticopter, _spool_up_time, AP_MOTORS_SPOOL_UP_TIME_DEFAULT),