Merge pull request #2029 from DonLakeFlyer/ParamXml

Store parameter xml size in .px4 file

Tools/px_mkfw.py

@@ -105,6 +105,7 @@ if args.git_identity != None:
 if args.parameter_xml != None:
 	f = open(args.parameter_xml, "rb")
 	bytes = f.read()
+	desc['parameter_xml_size'] = len(bytes)
 	desc['parameter_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
 if args.image != None:
 	f = open(args.image, "rb")

src/modules/commander/commander_params.c

@@ -139,8 +139,8 @@ PARAM_DEFINE_INT32(COM_DL_REG_T, 0);
  * Engine failure triggers only above this throttle value
  *
  * @group commander
- * @min 0.0f
- * @max 1.0f
+ * @min 0.0
+ * @max 1.0
  */
 PARAM_DEFINE_FLOAT(COM_EF_THROT, 0.5f);
 
@@ -149,8 +149,8 @@ PARAM_DEFINE_FLOAT(COM_EF_THROT, 0.5f);
  * Engine failure triggers only below this current/throttle value
  *
  * @group commander
- * @min 0.0f
- * @max 7.0f
+ * @min 0.0
+ * @max 7.0
  */
 PARAM_DEFINE_FLOAT(COM_EF_C2T, 5.0f);
 
@@ -161,8 +161,8 @@ PARAM_DEFINE_FLOAT(COM_EF_C2T, 5.0f);
  *
  * @group commander
  * @unit second
- * @min 0.0f
- * @max 7.0f
+ * @min 0.0
+ * @max 7.0
  */
 PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
 

src/modules/fw_pos_control_l1/mtecs/mTecs_params.c

@@ -157,8 +157,8 @@ PARAM_DEFINE_FLOAT(MT_THR_MAX, 1.0f);
 /**
  * Minimal Pitch Setpoint in Degrees
  *
- * @min -90.0f
- * @max 90.0f
+ * @min -90.0
+ * @max 90.0
  * @unit deg
  * @group mTECS
  */
@@ -167,8 +167,8 @@ PARAM_DEFINE_FLOAT(MT_PIT_MIN, -45.0f);
 /**
  * Maximal Pitch Setpoint in Degrees
  *
- * @min -90.0f
- * @max 90.0f
+ * @min -90.0
+ * @max 90.0
  * @unit deg
  * @group mTECS
  */
@@ -192,8 +192,8 @@ PARAM_DEFINE_FLOAT(MT_FPA_LP, 1.0f);
  * P gain for the altitude control
  * Maps the altitude error to the flight path angle setpoint
  *
- * @min 0.0f
- * @max 10.0f
+ * @min 0.0
+ * @max 10.0
  * @group mTECS
  */
 PARAM_DEFINE_FLOAT(MT_FPA_P, 0.3f);
@@ -202,8 +202,8 @@ PARAM_DEFINE_FLOAT(MT_FPA_P, 0.3f);
  * D gain for the altitude control
  * Maps the change of altitude error to the flight path angle setpoint
  *
- * @min 0.0f
- * @max 10.0f
+ * @min 0.0
+ * @max 10.0
  * @group mTECS
  */
 PARAM_DEFINE_FLOAT(MT_FPA_D, 0.0f);
@@ -219,8 +219,8 @@ PARAM_DEFINE_FLOAT(MT_FPA_D_LP, 1.0f);
 /**
  * Minimal flight path angle setpoint
  *
- * @min -90.0f
- * @max 90.0f
+ * @min -90.0
+ * @max 90.0
  * @unit deg
  * @group mTECS
  */
@@ -229,8 +229,8 @@ PARAM_DEFINE_FLOAT(MT_FPA_MIN, -20.0f);
 /**
  * Maximal flight path angle setpoint
  *
- * @min -90.0f
- * @max 90.0f
+ * @min -90.0
+ * @max 90.0
  * @unit deg
  * @group mTECS
  */
@@ -254,8 +254,8 @@ PARAM_DEFINE_FLOAT(MT_AD_LP, 0.5f);
  * P gain for the airspeed control
  * Maps the airspeed error to the acceleration setpoint
  *
- * @min 0.0f
- * @max 10.0f
+ * @min 0.0
+ * @max 10.0
  * @group mTECS
  */
 PARAM_DEFINE_FLOAT(MT_ACC_P, 0.3f);
@@ -264,8 +264,8 @@ PARAM_DEFINE_FLOAT(MT_ACC_P, 0.3f);
  * D gain for the airspeed control
  * Maps the change of airspeed error to the acceleration setpoint
  *
- * @min 0.0f
- * @max 10.0f
+ * @min 0.0
+ * @max 10.0
  * @group mTECS
  */
 PARAM_DEFINE_FLOAT(MT_ACC_D, 0.0f);
@@ -296,8 +296,8 @@ PARAM_DEFINE_FLOAT(MT_ACC_MAX, 40.0f);
 /**
  * Minimal throttle during takeoff
  *
- * @min 0.0f
- * @max 1.0f
+ * @min 0.0
+ * @max 1.0
  * @group mTECS
  */
 PARAM_DEFINE_FLOAT(MT_TKF_THR_MIN, 1.0f);
@@ -305,8 +305,8 @@ PARAM_DEFINE_FLOAT(MT_TKF_THR_MIN, 1.0f);
 /**
  * Maximal throttle during takeoff
  *
- * @min 0.0f
- * @max 1.0f
+ * @min 0.0
+ * @max 1.0
  * @group mTECS
  */
 PARAM_DEFINE_FLOAT(MT_TKF_THR_MAX, 1.0f);
@@ -314,8 +314,8 @@ PARAM_DEFINE_FLOAT(MT_TKF_THR_MAX, 1.0f);
 /**
  * Minimal pitch during takeoff
  *
- * @min -90.0f
- * @max 90.0f
+ * @min -90.0
+ * @max 90.0
  * @unit deg
  * @group mTECS
  */
@@ -324,8 +324,8 @@ PARAM_DEFINE_FLOAT(MT_TKF_PIT_MIN, 0.0f);
 /**
  * Maximal pitch during takeoff
  *
- * @min -90.0f
- * @max 90.0f
+ * @min -90.0
+ * @max 90.0
  * @unit deg
  * @group mTECS
  */
@@ -334,8 +334,8 @@ PARAM_DEFINE_FLOAT(MT_TKF_PIT_MAX, 45.0f);
 /**
  * Minimal throttle in underspeed mode
  *
- * @min 0.0f
- * @max 1.0f
+ * @min 0.0
+ * @max 1.0
  * @group mTECS
  */
 PARAM_DEFINE_FLOAT(MT_USP_THR_MIN, 1.0f);
@@ -343,8 +343,8 @@ PARAM_DEFINE_FLOAT(MT_USP_THR_MIN, 1.0f);
 /**
  * Maximal throttle in underspeed mode
  *
- * @min 0.0f
- * @max 1.0f
+ * @min 0.0
+ * @max 1.0
  * @group mTECS
  */
 PARAM_DEFINE_FLOAT(MT_USP_THR_MAX, 1.0f);
@@ -352,8 +352,8 @@ PARAM_DEFINE_FLOAT(MT_USP_THR_MAX, 1.0f);
 /**
  * Minimal pitch in underspeed mode
  *
- * @min -90.0f
- * @max 90.0f
+ * @min -90.0
+ * @max 90.0
  * @unit deg
  * @group mTECS
  */
@@ -362,8 +362,8 @@ PARAM_DEFINE_FLOAT(MT_USP_PIT_MIN, -45.0f);
 /**
  * Maximal pitch in underspeed mode
  *
- * @min -90.0f
- * @max 90.0f
+ * @min -90.0
+ * @max 90.0
  * @unit deg
  * @group mTECS
  */
@@ -372,8 +372,8 @@ PARAM_DEFINE_FLOAT(MT_USP_PIT_MAX, 0.0f);
 /**
  * Minimal throttle in landing mode (only last phase of landing)
  *
- * @min 0.0f
- * @max 1.0f
+ * @min 0.0
+ * @max 1.0
  * @group mTECS
  */
 PARAM_DEFINE_FLOAT(MT_LND_THR_MIN, 0.0f);
@@ -381,8 +381,8 @@ PARAM_DEFINE_FLOAT(MT_LND_THR_MIN, 0.0f);
 /**
  * Maximal throttle in landing mode (only last phase of landing)
  *
- * @min 0.0f
- * @max 1.0f
+ * @min 0.0
+ * @max 1.0
  * @group mTECS
  */
 PARAM_DEFINE_FLOAT(MT_LND_THR_MAX, 0.0f);
@@ -390,8 +390,8 @@ PARAM_DEFINE_FLOAT(MT_LND_THR_MAX, 0.0f);
 /**
  * Minimal pitch in landing mode
  *
- * @min -90.0f
- * @max 90.0f
+ * @min -90.0
+ * @max 90.0
  * @unit deg
  * @group mTECS
  */
@@ -400,8 +400,8 @@ PARAM_DEFINE_FLOAT(MT_LND_PIT_MIN, -5.0f);
 /**
  * Maximal pitch in landing mode
  *
- * @min -90.0f
- * @max 90.0f
+ * @min -90.0
+ * @max 90.0
  * @unit deg
  * @group mTECS
  */
@@ -410,8 +410,8 @@ PARAM_DEFINE_FLOAT(MT_LND_PIT_MAX, 15.0f);
 /**
  * Integrator Limit for Total Energy Rate Control
  *
- * @min 0.0f
- * @max 10.0f
+ * @min 0.0
+ * @max 10.0
  * @group mTECS
  */
 PARAM_DEFINE_FLOAT(MT_THR_I_MAX, 10.0f);
@@ -419,8 +419,8 @@ PARAM_DEFINE_FLOAT(MT_THR_I_MAX, 10.0f);
 /**
  * Integrator Limit for Energy Distribution Rate Control
  *
- * @min 0.0f
- * @max 10.0f
+ * @min 0.0
+ * @max 10.0
  * @group mTECS
  */
 PARAM_DEFINE_FLOAT(MT_PIT_I_MAX, 10.0f);

src/modules/navigator/datalinkloss_params.c

@@ -64,7 +64,7 @@ PARAM_DEFINE_FLOAT(NAV_DLL_CH_T, 120.0f);
  * Latitude of comms hold waypoint
  *
  * @unit degrees * 1e7
- * @min 0.0
+ * @min 0
  * @group DLL
  */
 PARAM_DEFINE_INT32(NAV_DLL_CH_LAT, -266072120);
@@ -75,7 +75,7 @@ PARAM_DEFINE_INT32(NAV_DLL_CH_LAT, -266072120);
  * Longitude of comms hold waypoint
  *
  * @unit degrees * 1e7
- * @min 0.0
+ * @min 0
  * @group DLL
  */
 PARAM_DEFINE_INT32(NAV_DLL_CH_LON, 1518453890);

src/modules/navigator/navigator_params.c

@@ -94,7 +94,7 @@ PARAM_DEFINE_INT32(NAV_RCL_OBC, 0);
  * Latitude of airfield home waypoint
  *
  * @unit degrees * 1e7
- * @min 0.0
+ * @min 0
  * @group DLL
  */
 PARAM_DEFINE_INT32(NAV_AH_LAT, -265847810);
@@ -105,7 +105,7 @@ PARAM_DEFINE_INT32(NAV_AH_LAT, -265847810);
  * Longitude of airfield home waypoint
  *
  * @unit degrees * 1e7
- * @min 0.0
+ * @min 0
  * @group DLL
  */
 PARAM_DEFINE_INT32(NAV_AH_LON, 1518423250);

src/modules/position_estimator_inav/position_estimator_inav_params.c

@@ -282,8 +282,8 @@ PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f);
  *
  * Set to the appropriate key (328754) to disable vision input.
  *
- * @min 0.0
- * @max 1.0
+ * @min 0
+ * @max 1
  * @group Position Estimator INAV
  */
 PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
@@ -295,9 +295,8 @@ PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
  * the system uses the combined attitude / position
  * filter framework.
  *
- * @min 0.0
- * @max 1.0
- * @unit s
+ * @min 0
+ * @max 1
  * @group Position Estimator INAV
  */
 PARAM_DEFINE_INT32(INAV_ENABLED, 1);

src/modules/vtol_att_control/vtol_att_control_params.c

@@ -43,7 +43,7 @@
 /**
  * VTOL number of engines
  *
- * @min 1.0
+ * @min 1
  * @group VTOL Attitude Control
  */
 PARAM_DEFINE_INT32(VT_MOT_COUNT,0);
@@ -92,8 +92,8 @@ PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM,10.0f);
  * If set to one this parameter will cause permanent attitude stabilization in fw mode.
  * This parameter has been introduced for pure convenience sake.
  *
- * @min 0.0
- * @max 1.0
+ * @min 0
+ * @max 1
  * @group VTOL Attitude Control
  */
 PARAM_DEFINE_INT32(VT_FW_PERM_STAB,0);