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Merge pull request #2035 from DonLakeFlyer/MetaDataFixes 

Parameter meta data fixes
This commit is contained in:
Lorenz Meier 2015-04-15 21:12:44 +02:00
parent d84ac41cd3 05c351183f
commit ba88daf8f9
10 changed files with 116 additions and 68 deletions
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35
Tools/px4params/srcparser.py
View File

@ -83,6 +83,7 @@ class SourceParser(object):
re_comment_tag = re.compile(r'@([a-zA-Z][a-zA-Z0-9_]*)\s*(.*)')
re_comment_end = re.compile(r'(.*?)\s*\*\/')
re_parameter_definition = re.compile(r'PARAM_DEFINE_([A-Z_][A-Z0-9_]*)\s*\(([A-Z_][A-Z0-9_]*)\s*,\s*([^ ,\)]+)\s*\)\s*;')
re_px4_parameter_definition = re.compile(r'PX4_PARAM_DEFINE_([A-Z_][A-Z0-9_]*)\s*\(([A-Z_][A-Z0-9_]*)\s*\)\s*;')
re_cut_type_specifier = re.compile(r'[a-z]+$')
re_is_a_number = re.compile(r'^-?[0-9\.]')
re_remove_dots = re.compile(r'\.+$')
@ -206,8 +207,38 @@ class SourceParser(object):
if group not in self.param_groups:
self.param_groups[group] = ParameterGroup(group)
self.param_groups[group].AddParameter(param)
# Reset parsed comment.
state = None
else:
# Nasty code dup, but this will all go away soon, so quick and dirty (DonLakeFlyer)
m = self.re_px4_parameter_definition.match(line)
if m:
tp, code = m.group(1, 2)
param = Parameter()
param.SetField("code", code)
param.SetField("short_desc", code)
param.SetField("type", tp)
# If comment was found before the parameter declaration,
# inject its data into the newly created parameter.
group = "Miscellaneous"
if state == "comment-processed":
if short_desc is not None:
param.SetField("short_desc",
self.re_remove_dots.sub('', short_desc))
if long_desc is not None:
param.SetField("long_desc", long_desc)
for tag in tags:
if tag == "group":
group = tags[tag]
elif tag not in self.valid_tags:
sys.stderr.write("Skipping invalid "
"documentation tag: '%s'\n" % tag)
else:
param.SetField(tag, tags[tag])
# Store the parameter
if group not in self.param_groups:
self.param_groups[group] = ParameterGroup(group)
self.param_groups[group].AddParameter(param)
# Reset parsed comment.
state = None
def GetParamGroups(self):
"""

22
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
View File

@ -48,49 +48,49 @@
/**
* Body angular rate process noise
*
* @group attitude_ekf
* @group Attitude EKF estimator
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q0, 1e-4f);
/**
* Body angular acceleration process noise
*
* @group attitude_ekf
* @group Attitude EKF estimator
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q1, 0.08f);
/**
* Acceleration process noise
*
* @group attitude_ekf
* @group Attitude EKF estimator
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q2, 0.009f);
/**
* Magnet field vector process noise
*
* @group attitude_ekf
* @group Attitude EKF estimator
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
/**
* Gyro measurement noise
*
* @group attitude_ekf
* @group Attitude EKF estimator
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f);
/**
* Accel measurement noise
*
* @group attitude_ekf
* @group Attitude EKF estimator
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f);
/**
* Mag measurement noise
*
* @group attitude_ekf
* @group Attitude EKF estimator
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
@ -102,7 +102,7 @@ PARAM_DEFINE_INT32(ATT_ACC_COMP, 2);
/**
* Moment of inertia matrix diagonal entry (1, 1)
*
* @group attitude_ekf
* @group Attitude EKF estimator
* @unit kg*m^2
*/
PARAM_DEFINE_FLOAT(ATT_J11, 0.0018);
@ -110,7 +110,7 @@ PARAM_DEFINE_FLOAT(ATT_J11, 0.0018);
/**
* Moment of inertia matrix diagonal entry (2, 2)
*
* @group attitude_ekf
* @group Attitude EKF estimator
* @unit kg*m^2
*/
PARAM_DEFINE_FLOAT(ATT_J22, 0.0018);
@ -118,7 +118,7 @@ PARAM_DEFINE_FLOAT(ATT_J22, 0.0018);
/**
* Moment of inertia matrix diagonal entry (3, 3)
*
* @group attitude_ekf
* @group Attitude EKF estimator
* @unit kg*m^2
*/
PARAM_DEFINE_FLOAT(ATT_J33, 0.0037);
@ -128,7 +128,7 @@ PARAM_DEFINE_FLOAT(ATT_J33, 0.0037);
*
* If set to != 0 the moment of inertia will be used in the estimator
*
* @group attitude_ekf
* @group Attitude EKF estimator
* @min 0
* @max 1
*/

16
src/modules/commander/commander_params.c
View File

@ -105,7 +105,7 @@ PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
*
* Set to 1 to enable actions triggered when the datalink is lost.
*
* @group commander
* @group Commander
* @min 0
* @max 1
*/
@ -115,7 +115,7 @@ PARAM_DEFINE_INT32(COM_DL_LOSS_EN, 0);
*
* After this amount of seconds without datalink the data link lost mode triggers
*
* @group commander
* @group Commander
* @unit second
* @min 0
* @max 30
@ -127,7 +127,7 @@ PARAM_DEFINE_INT32(COM_DL_LOSS_T, 10);
* After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss'
* flag is set back to false
*
* @group commander
* @group Commander
* @unit second
* @min 0
* @max 30
@ -138,7 +138,7 @@ PARAM_DEFINE_INT32(COM_DL_REG_T, 0);
*
* Engine failure triggers only above this throttle value
*
* @group commander
* @group Commander
* @min 0.0
* @max 1.0
*/
@ -148,7 +148,7 @@ PARAM_DEFINE_FLOAT(COM_EF_THROT, 0.5f);
*
* Engine failure triggers only below this current/throttle value
*
* @group commander
* @group Commander
* @min 0.0
* @max 7.0
*/
@ -159,7 +159,7 @@ PARAM_DEFINE_FLOAT(COM_EF_C2T, 5.0f);
* Engine failure triggers only if the throttle threshold and the
* current to throttle threshold are violated for this time
*
* @group commander
* @group Commander
* @unit second
* @min 0.0
* @max 7.0
@ -170,7 +170,7 @@ PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
*
* After this amount of seconds without RC connection the rc lost flag is set to true
*
* @group commander
* @group Commander
* @unit second
* @min 0
* @max 35
@ -183,7 +183,7 @@ PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5);
* Default is on, as the interoperability with currently deployed GCS solutions depends on parameters
* being sticky. Developers can default it to off.
*
* @group commander
* @group Commander
* @min 0
* @max 1
*/

4
src/modules/mavlink/mavlink.c
View File

@ -64,14 +64,18 @@ PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
/**
* Use/Accept HIL GPS message (even if not in HIL mode)
*
* If set to 1 incomming HIL GPS messages are parsed.
*
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
/**
* Forward external setpoint messages
*
* If set to 1 incomming external setpoint messages will be directly forwarded to the controllers if in offboard
* control mode
*
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1);

14
src/modules/navigator/datalinkloss_params.c
View File

@ -54,7 +54,7 @@
*
* @unit seconds
* @min 0.0
* @group DLL
* @group Data Link Loss
*/
PARAM_DEFINE_FLOAT(NAV_DLL_CH_T, 120.0f);
@ -65,7 +65,7 @@ PARAM_DEFINE_FLOAT(NAV_DLL_CH_T, 120.0f);
*
* @unit degrees * 1e7
* @min 0
* @group DLL
* @group Data Link Loss
*/
PARAM_DEFINE_INT32(NAV_DLL_CH_LAT, -266072120);
@ -76,7 +76,7 @@ PARAM_DEFINE_INT32(NAV_DLL_CH_LAT, -266072120);
*
* @unit degrees * 1e7
* @min 0
* @group DLL
* @group Data Link Loss
*/
PARAM_DEFINE_INT32(NAV_DLL_CH_LON, 1518453890);
@ -87,7 +87,7 @@ PARAM_DEFINE_INT32(NAV_DLL_CH_LON, 1518453890);
*
* @unit m
* @min 0.0
* @group DLL
* @group Data Link Loss
*/
PARAM_DEFINE_FLOAT(NAV_DLL_CH_ALT, 600.0f);
@ -98,7 +98,7 @@ PARAM_DEFINE_FLOAT(NAV_DLL_CH_ALT, 600.0f);
*
* @unit seconds
* @min 0.0
* @group DLL
* @group Data Link Loss
*/
PARAM_DEFINE_FLOAT(NAV_DLL_AH_T, 120.0f);
@ -107,7 +107,7 @@ PARAM_DEFINE_FLOAT(NAV_DLL_AH_T, 120.0f);
*
* After more than this number of data link timeouts the aircraft returns home directly
*
* @group DLL
* @group Data Link Loss
* @min 0
* @max 1000
*/
@ -119,7 +119,7 @@ PARAM_DEFINE_INT32(NAV_DLL_N, 2);
* If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to
* airfield home
*
* @group DLL
* @group Data Link Loss
* @min 0
* @max 1
*/

8
src/modules/navigator/gpsfailure_params.c
View File

@ -55,7 +55,7 @@
*
* @unit seconds
* @min 0.0
* @group GPSF
* @group GPS Failure Navigation
*/
PARAM_DEFINE_FLOAT(NAV_GPSF_LT, 30.0f);
@ -67,7 +67,7 @@ PARAM_DEFINE_FLOAT(NAV_GPSF_LT, 30.0f);
* @unit deg
* @min 0.0
* @max 30.0
* @group GPSF
* @group GPS Failure Navigation
*/
PARAM_DEFINE_FLOAT(NAV_GPSF_R, 15.0f);
@ -79,7 +79,7 @@ PARAM_DEFINE_FLOAT(NAV_GPSF_R, 15.0f);
* @unit deg
* @min -30.0
* @max 30.0
* @group GPSF
* @group GPS Failure Navigation
*/
PARAM_DEFINE_FLOAT(NAV_GPSF_P, 0.0f);
@ -90,7 +90,7 @@ PARAM_DEFINE_FLOAT(NAV_GPSF_P, 0.0f);
*
* @min 0.0
* @max 1.0
* @group GPSF
* @group GPS Failure Navigation
*/
PARAM_DEFINE_FLOAT(NAV_GPSF_TR, 0.7f);

6
src/modules/navigator/navigator_params.c
View File

@ -95,7 +95,7 @@ PARAM_DEFINE_INT32(NAV_RCL_OBC, 0);
*
* @unit degrees * 1e7
* @min 0
* @group DLL
* @group Data Link Loss
*/
PARAM_DEFINE_INT32(NAV_AH_LAT, -265847810);
@ -106,7 +106,7 @@ PARAM_DEFINE_INT32(NAV_AH_LAT, -265847810);
*
* @unit degrees * 1e7
* @min 0
* @group DLL
* @group Data Link Loss
*/
PARAM_DEFINE_INT32(NAV_AH_LON, 1518423250);
@ -117,6 +117,6 @@ PARAM_DEFINE_INT32(NAV_AH_LON, 1518423250);
*
* @unit m
* @min 0.0
* @group DLL
* @group Data Link Loss
*/
PARAM_DEFINE_FLOAT(NAV_AH_ALT, 600.0f);

2
src/modules/navigator/rcloss_params.c
View File

@ -55,6 +55,6 @@
*
* @unit seconds
* @min -1.0
* @group RCL
* @group Radio Signal Loss
*/
PARAM_DEFINE_FLOAT(NAV_RCL_LT, 120.0f);

8
src/modules/navigator/rtl_params.c
View File

@ -55,7 +55,7 @@
* @unit meters
* @min 20
* @max 200
* @group RTL
* @group Return To Land
*/
PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f);
@ -67,7 +67,7 @@ PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f);
* @unit meters
* @min 0
* @max 150
* @group RTL
* @group Return To Land
*/
PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60);
@ -81,7 +81,7 @@ PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60);
* @unit meters
* @min 2
* @max 100
* @group RTL
* @group Return To Land
*/
PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);
@ -94,6 +94,6 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);
* @unit seconds
* @min -1
* @max 300
* @group RTL
* @group Return To Land
*/
PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);

69
src/modules/sensors/sensor_params.c
View File

@ -1099,7 +1099,7 @@ PARAM_DEFINE_INT32(RC_MAP_YAW, 4);
*
* @min 0
* @max 18
* @group Radio Calibration
* @group Radio Switches
*/
PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
@ -1108,7 +1108,7 @@ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
*
* @min 0
* @max 18
* @group Radio Calibration
* @group Radio Switches
*/
PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
@ -1117,7 +1117,7 @@ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
*
* @min 0
* @max 18
* @group Radio Calibration
* @group Radio Switches
*/
PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
@ -1126,7 +1126,7 @@ PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
*
* @min 0
* @max 18
* @group Radio Calibration
* @group Radio Switches
*/
PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
@ -1135,7 +1135,7 @@ PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
*
* @min 0
* @max 18
* @group Radio Calibration
* @group Radio Switches
*/
PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0);
@ -1144,7 +1144,7 @@ PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0);
*
* @min 0
* @max 18
* @group Radio Calibration
* @group Radio Switches
*/
PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
@ -1153,7 +1153,7 @@ PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
*
* @min 0
* @max 18
* @group Radio Calibration
* @group Radio Switches
*/
PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0);
@ -1238,9 +1238,6 @@ PARAM_DEFINE_INT32(RC_FAILS_THR, 0);
/**
* Threshold for selecting assist mode
*
* min:-1
* max:+1
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
@ -1248,15 +1245,17 @@ PARAM_DEFINE_INT32(RC_FAILS_THR, 0);
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f);
/**
* Threshold for selecting auto mode
*
* min:-1
* max:+1
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
@ -1264,15 +1263,17 @@ PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f);
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
/**
* Threshold for selecting posctl mode
*
* min:-1
* max:+1
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
@ -1280,15 +1281,16 @@ PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
*
*
*/
PARAM_DEFINE_FLOAT(RC_POSCTL_TH, 0.5f);
/**
* Threshold for selecting return to launch mode
*
* min:-1
* max:+1
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
@ -1296,15 +1298,17 @@ PARAM_DEFINE_FLOAT(RC_POSCTL_TH, 0.5f);
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_RETURN_TH, 0.5f);
/**
* Threshold for selecting loiter mode
*
* min:-1
* max:+1
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
@ -1312,15 +1316,17 @@ PARAM_DEFINE_FLOAT(RC_RETURN_TH, 0.5f);
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f);
/**
* Threshold for selecting acro mode
*
* min:-1
* max:+1
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
@ -1328,6 +1334,11 @@ PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f);
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);
@ -1335,9 +1346,6 @@ PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);
/**
* Threshold for selecting offboard mode
*
* min:-1
* max:+1
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
@ -1345,5 +1353,10 @@ PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_OFFB_TH, 0.5f);