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AP_Motors: Use SI units conventions in parameter units

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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 15:45:39 +02:00 committed by Andrew Tridgell
parent 44eca002f0
commit 9d9ebc91cd
4 changed files with 25 additions and 23 deletions
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8
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -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),

16
libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
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@ -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),

8
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -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),

16
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -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),