From b996bb4a5d7999ead5383cdd277d0f6ef4a05b3a Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar Do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Tue, 2 May 2017 15:36:52 +0200
Subject: [PATCH] Sub: 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
---
 ArduSub/Parameters.cpp | 21 ++++++++++++---------
 1 file changed, 12 insertions(+), 9 deletions(-)

diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 6257869101..253c45dff8 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -103,7 +103,7 @@ const AP_Param::Info Sub::var_info[] = {
     // @Param: FS_BATT_VOLTAGE
     // @DisplayName: Failsafe battery voltage
     // @Description: Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe.
-    // @Units: Volts
+    // @Units: V
     // @Increment: 0.1
     // @User: Standard
     GSCALAR(fs_batt_voltage,        "FS_BATT_VOLTAGE", FS_BATT_VOLTAGE_DEFAULT),
@@ -111,7 +111,7 @@ const AP_Param::Info Sub::var_info[] = {
     // @Param: FS_BATT_MAH
     // @DisplayName: Failsafe battery milliAmpHours
     // @Description: Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe.
-    // @Units: mAh
+    // @Units: mA.h
     // @Increment: 50
     // @User: Standard
     GSCALAR(fs_batt_mah,            "FS_BATT_MAH", FS_BATT_MAH_DEFAULT),
@@ -147,14 +147,14 @@ const AP_Param::Info Sub::var_info[] = {
     // @Param: FS_PRESS_MAX
     // @DisplayName: Internal Pressure Failsafe Threshold
     // @Description: The maximum internal pressure allowed before triggering failsafe. Failsafe action is determined by FS_PRESS_ENABLE parameter
-    // @Units: Pascal
+    // @Units: Pa
     // @User: Standard
     GSCALAR(failsafe_pressure_max, "FS_PRESS_MAX", FS_PRESS_MAX_DEFAULT),
 
     // @Param: FS_TEMP_MAX
     // @DisplayName: Internal Temperature Failsafe Threshold
     // @Description: The maximum internal temperature allowed before triggering failsafe. Failsafe action is determined by FS_TEMP_ENABLE parameter.
-    // @Units: Degrees Centigrade
+    // @Units: degC
     // @User: Standard
     GSCALAR(failsafe_temperature_max, "FS_TEMP_MAX", FS_TEMP_MAX_DEFAULT),
 
@@ -175,7 +175,7 @@ const AP_Param::Info Sub::var_info[] = {
     // @Param: FS_PILOT_TIMEOUT
     // @DisplayName: Timeout for activation of pilot input failsafe
     // @Description: Controls the maximum interval between received pilot inputs before the failsafe action is triggered
-    // @Units: Seconds
+    // @Units: s
     // @Range: 0.1 3.0
     // @User: Standard
     GSCALAR(failsafe_pilot_input_timeout, "FS_PILOT_TIMEOUT", 1.0f),
@@ -204,7 +204,7 @@ const AP_Param::Info Sub::var_info[] = {
     // @Param: PILOT_VELZ_MAX
     // @DisplayName: Pilot maximum vertical speed
     // @Description: The maximum vertical velocity the pilot may request in cm/s
-    // @Units: Centimeters/Second
+    // @Units: cm/s
     // @Range: 50 500
     // @Increment: 10
     // @User: Standard
@@ -224,7 +224,7 @@ const AP_Param::Info Sub::var_info[] = {
     // @Description: The deadzone above and below mid throttle.  Used in AltHold, Loiter, PosHold flight modes
     // @User: Standard
     // @Range: 0 300
-    // @Units: pwm
+    // @Units: PWM
     // @Increment: 1
     GSCALAR(throttle_deadzone,  "THR_DZ",    THR_DZ_DEFAULT),
 
@@ -239,7 +239,7 @@ const AP_Param::Info Sub::var_info[] = {
     // @Param: ANGLE_MAX
     // @DisplayName: Angle Max
     // @Description: Maximum lean angle in all flight modes
-    // @Units: Centi-degrees
+    // @Units: cdeg
     // @Range: 1000 8000
     // @User: Advanced
     ASCALAR(angle_max, "ANGLE_MAX",                 DEFAULT_ANGLE_MAX),
@@ -307,6 +307,7 @@ const AP_Param::Info Sub::var_info[] = {
     // @Description: Size of PWM increment on camera tilt servo
     // @User: Standard
     // @Range: 30 400
+    // @Units: PWM
     GSCALAR(cam_tilt_step, "JS_CAM_TILT_STEP", 50),
 
     // @Param: JS_LIGHTS_STEP
@@ -314,6 +315,7 @@ const AP_Param::Info Sub::var_info[] = {
     // @Description: Size of PWM increment on lights servo
     // @User: Standard
     // @Range: 30 400
+    // @Units: PWM
     GSCALAR(lights_step, "JS_LIGHTS_STEP", 100),
 
     // @Param: JS_THR_GAIN
@@ -328,6 +330,7 @@ const AP_Param::Info Sub::var_info[] = {
     // @Description: Servo PWM at camera center position
     // @User: Standard
     // @Range: 1000 2000
+    // @Units: PWM
     GSCALAR(cam_tilt_center, "CAM_CENTER", 1500),
 
     // @Param: FRAME_CONFIG
@@ -510,7 +513,7 @@ const AP_Param::Info Sub::var_info[] = {
     // @DisplayName: Throttle acceleration controller I gain maximum
     // @Description: Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate
     // @Range: 0 1000
-    // @Units: Percent*10
+    // @Units: d%
     // @User: Standard
 
     // @Param: ACCEL_Z_D