diff --git a/Tools/autotest/param_metadata/htmlemit.py b/Tools/autotest/param_metadata/htmlemit.py
index e8c5205e33..493a0b6b5a 100644
--- a/Tools/autotest/param_metadata/htmlemit.py
+++ b/Tools/autotest/param_metadata/htmlemit.py
@@ -3,7 +3,7 @@
Emit docs in a form acceptable to the old Ardupilot wordpress docs site
"""
-from param import known_param_fields
+from param import known_param_fields, known_units
from emit import Emit
import cgi
@@ -71,6 +71,11 @@ DO NOT EDIT
v = value.split(':')
t += "| %s | %s |
\n" % (v[0], v[1])
t += "\n"
+ elif field == 'Units':
+ abreviated_units = param.__dict__[field]
+ if abreviated_units != '':
+ units = known_units[abreviated_units] # use the known_units dictionary to convert the abreviated unit into a full textual one
+ t += "%s: %s\n" % (field, cgi.escape(units))
else:
t += "%s: %s\n" % (field, cgi.escape(param.__dict__[field]))
t += "\n"
diff --git a/Tools/autotest/param_metadata/param.py b/Tools/autotest/param_metadata/param.py
index 3080c80076..02c21b9213 100644
--- a/Tools/autotest/param_metadata/param.py
+++ b/Tools/autotest/param_metadata/param.py
@@ -30,6 +30,71 @@ known_param_fields = [
'ReadOnly',
]
+# Follow SI units conventions 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
+# http://www.bipm.org/en/publications/si-brochure/
+# http://www1.bipm.org/en/CGPM/db/3/2/ g_n unit for G-force
+# one further constrain is that only printable (7bit) ASCII characters are allowed
+known_units = {
+# abreviation : full-text (used in .html .rst and .wiki files)
+# time
+ 's' : 'seconds' ,
+ 'ds' : 'deciseconds' ,
+ 'cs' : 'centiseconds' ,
+ 'ms' : 'milliseconds' ,
+ 'PWM' : 'PWM in microseconds' , # should be microseconds, this is NOT a SI unit, but follows https://github.com/ArduPilot/ardupilot/pull/5538#issuecomment-271943061 and µs is not 7bit-ASCII
+ 'Hz' : 'hertz' ,
+# distance
+ 'km' : 'kilometers' , # metre is the SI unit name, _NOT_ meter
+ 'm' : 'meters' , # metre is the SI unit name, _NOT_ meter
+ 'm/s' : 'meters per second' , # metre is the SI unit name, _NOT_ meter
+ 'm/s/s' : 'meters per square second' , # metre is the SI unit name, _NOT_ meter
+ 'm/s/s/s' : 'meters per cubic second' , # metre is the SI unit name, _NOT_ meter
+ 'cm' : 'centimeters' , # metre is the SI unit name, _NOT_ meter
+ 'cm/s' : 'centimeters per second' , # metre is the SI unit name, _NOT_ meter
+ 'cm/s/s' : 'centimeters per square second', # metre is the SI unit name, _NOT_ meter
+ 'cm/s/s/s': 'centimeters per cubic second' , # metre is the SI unit name, _NOT_ meter
+ 'mm' : 'millimeters' , # metre is the SI unit name, _NOT_ meter
+# temperature
+ 'degC' : 'degrees Celsius' , # °C would be the correct abreviation, but it is not 7bit-ASCII
+# angle
+ 'deg' : 'degrees' , # ° would be the correct abreviation, but it is not 7bit-ASCII
+ 'deg/s' : 'degrees per second' , # °/s would be the correct abreviation, but it is not 7bit-ASCII
+ 'cdeg' : 'centidegrees' , # c° would be the correct abreviation, but it is not 7bit-ASCII
+ 'cdeg/s' : 'centidegrees per second', # c°/s would be the correct abreviation, but it is not 7bit-ASCII
+ 'cdeg/s/s': 'centidegrees per square second' ,
+ 'rad' : 'radians' ,
+ 'rad/s' : 'radians per second' ,
+ 'rad/s/s' : 'radians per square second' ,
+# electricity
+ 'A' : 'ampere' ,
+ 'V' : 'volt' ,
+ 'W' : 'watt' ,
+# magnetism
+ 'Gauss' : 'gauss' , # Gauss is not an SI unit, but 1 tesla = 10000 gauss so a simple replacement is not possible here
+ 'Gauss/s' : 'gauss per second' , # Gauss is not an SI unit, but 1 tesla = 10000 gauss so a simple replacement is not possible here
+ 'mGauss' : 'milligauss' , # Gauss is not an SI unit, but 1 tesla = 10000 gauss so a simple replacement is not possible here
+# pressure
+ 'Pa' : 'pascal' ,
+ 'mbar' : 'millibar' ,
+# ratio
+ '%' : 'percent' ,
+ '%/s' : 'percent per second' ,
+ 'd%' : 'decipercent' , # ‰ would be the correct abreviation, but it is not 7bit-ASCII. decipercent is strange, but "per-mille" is even more exotic
+# compound
+ 'm.m/s/s' : 'square meter per square second', # m·m/s/s would be the correct abreviation, but it is not 7bit-ASCII
+ 'deg/m/s' : 'degrees per meter per second' , # °/m/s would be the correct abreviation, but it is not 7bit-ASCII
+ 'm/s/m' : 'meters per second per meter' , # Why not use Hz here ????
+ 'mGauss/A': 'milligauss per ampere' ,
+ 'mA.h' : 'milliampere hour' , # mA·h would be the correct abreviation, but it is not 7bit-ASCII
+ 'A/V' : 'ampere per volt' ,
+ 'm/V' : 'meters per volt' ,
+ 'gravities': 'standard acceleration due to gravity' , # g_n would be a more correct unit, but IMHO no one understands what g_n means
+ }
+
required_param_fields = [
'Description',
'DisplayName',
diff --git a/Tools/autotest/param_metadata/param_parse.py b/Tools/autotest/param_metadata/param_parse.py
index 5056cc094e..a35d83928d 100755
--- a/Tools/autotest/param_metadata/param_parse.py
+++ b/Tools/autotest/param_metadata/param_parse.py
@@ -7,7 +7,7 @@ import sys
from optparse import OptionParser
from param import (Library, Parameter, Vehicle, known_group_fields,
- known_param_fields, required_param_fields)
+ known_param_fields, required_param_fields, known_units)
from htmlemit import HtmlEmit
from rstemit import RSTEmit
from wikiemit import WikiEmit
@@ -203,6 +203,10 @@ def validate(param):
if not is_number(max_value):
error("Max value not number: %s %s" % (param.name, max_value))
return
+ # Validate units
+ if (hasattr(param, "Units")):
+ if (param.__dict__["Units"] != "") and (param.__dict__["Units"] not in known_units):
+ error("unknown units field '%s'" % param.__dict__["Units"])
for vehicle in vehicles:
for param in vehicle.params:
diff --git a/Tools/autotest/param_metadata/rstemit.py b/Tools/autotest/param_metadata/rstemit.py
index da5b7f8db8..61528aeb7a 100644
--- a/Tools/autotest/param_metadata/rstemit.py
+++ b/Tools/autotest/param_metadata/rstemit.py
@@ -1,7 +1,7 @@
#!/usr/bin/env python
from __future__ import print_function
import re
-from param import known_param_fields
+from param import known_param_fields, known_units
from emit import Emit
import cgi
@@ -241,6 +241,11 @@ Complete Parameter List
elif field == "Range":
(param_min, param_max) = (param.__dict__[field]).split(' ')
row.append("%s - %s" % (param_min, param_max,))
+ elif field == 'Units':
+ abreviated_units = param.__dict__[field]
+ if abreviated_units != '':
+ units = known_units[abreviated_units] # use the known_units dictionary to convert the abreviated unit into a full textual one
+ row.append(cgi.escape(units))
else:
row.append(cgi.escape(param.__dict__[field]))
if len(row):
diff --git a/Tools/autotest/param_metadata/wikiemit.py b/Tools/autotest/param_metadata/wikiemit.py
index 61da69834d..e921adb5e6 100644
--- a/Tools/autotest/param_metadata/wikiemit.py
+++ b/Tools/autotest/param_metadata/wikiemit.py
@@ -3,7 +3,7 @@
import re
from emit import Emit
-from param import known_param_fields
+from param import known_param_fields, known_units
# Emit docs in a form acceptable to the APM wiki site
@@ -63,6 +63,11 @@ class WikiEmit(Emit):
for value in values:
v = value.split(':')
t += "|| " + v[0] + " || " + self.camelcase_escape(v[1]) + " ||\n"
+ elif field == 'Units':
+ abreviated_units = param.__dict__[field]
+ if abreviated_units != '':
+ units = known_units[abreviated_units] # use the known_units dictionary to convert the abreviated unit into a full textual one
+ t += " * %s: %s\n" % (self.camelcase_escape(field), self.wikichars_escape(units))
else:
t += " * %s: %s\n" % (self.camelcase_escape(field), self.wikichars_escape(param.__dict__[field]))
diff --git a/Tools/autotest/param_metadata/xmlemit.py b/Tools/autotest/param_metadata/xmlemit.py
index f14c7381a7..8e8d0b642a 100644
--- a/Tools/autotest/param_metadata/xmlemit.py
+++ b/Tools/autotest/param_metadata/xmlemit.py
@@ -3,7 +3,7 @@
from xml.sax.saxutils import escape, quoteattr
from emit import Emit
-from param import known_param_fields
+from param import known_param_fields, known_units
# Emit APM documentation in an machine readable XML format
@@ -60,6 +60,12 @@ class XmlEmit(Emit):
t += '''%s\n''' % (quoteattr(v[0]), escape(v[1])) # i.e. numeric value, string label
t += "\n"
+ elif field == 'Units':
+ abreviated_units = param.__dict__[field]
+ if abreviated_units != '':
+ units = known_units[abreviated_units] # use the known_units dictionary to convert the abreviated unit into a full textual one
+ t += '''%s\n''' % (quoteattr(field), escape(abreviated_units)) # i.e. A/s
+ t += '''%s\n''' % (quoteattr('UnitText'), escape(units)) # i.e. ampere per second
else:
t += '''%s\n''' % (quoteattr(field), escape(param.__dict__[field])) # i.e. Range: 0 10