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AP_AHRS: add parameter descriptions

This commit is contained in:
Randy Mackay 2013-05-21 15:39:03 +09:00
parent 5ee68db6f0
commit b27ddf0f63
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_AHRS/AP_AHRS.cpp
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@ -24,6 +24,7 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
// @Param: GPS_USE
// @DisplayName: AHRS use GPS for navigation
// @Description: This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight.
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
AP_GROUPINFO("GPS_USE", 3, AP_AHRS, _gps_use, 1),
@ -55,18 +56,21 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
// @DisplayName: AHRS Trim Roll
// @Description: Compensates for the roll angle difference between the control board and the frame
// @Units: Radians
// @Range: -10 10
// @User: Advanced
// @Param: TRIM_Y
// @DisplayName: AHRS Trim Pitch
// @Description: Compensates for the pitch angle difference between the control board and the frame
// @Units: Radians
// @Range: -10 10
// @User: Advanced
// @Param: TRIM_Z
// @DisplayName: AHRS Trim Yaw
// @Description: Not Used
// @Units: Radians
// @Range: -10 10
// @User: Advanced
AP_GROUPINFO("TRIM", 8, AP_AHRS, _trim, 0),
@ -82,12 +86,14 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
// @Description: This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.
// @Range: 0.001 0.5
// @Increment: .01
// @User: Advanced
AP_GROUPINFO("COMP_BETA", 10, AP_AHRS, beta, 0.1f),
// @Param: GPS_MINSATS
// @DisplayName: AHRS GPS Minimum satellites
// @Description: Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("GPS_MINSATS", 11, AP_AHRS, _gps_minsats, 6),