params: make parameter units more consistent (#15502)

src/drivers/heater/heater_params.c

@@ -53,7 +53,7 @@ PARAM_DEFINE_INT32(SENS_TEMP_ID, 0);
  *
  * @category system
  * @group Sensors
- * @unit C
+ * @unit celcius
  * @min 0
  * @max 85.0
  * @decimal 3
@@ -65,7 +65,7 @@ PARAM_DEFINE_FLOAT(SENS_IMU_TEMP, 55.0f);
  *
  * @category system
  * @group Sensors
- * @unit microseconds/C
+ * @unit us/C
  * @min 0
  * @max 1.0
  * @decimal 3
@@ -77,7 +77,7 @@ PARAM_DEFINE_FLOAT(SENS_IMU_TEMP_I, 0.025f);
  *
  * @category system
  * @group Sensors
- * @unit microseconds/C
+ * @unit us/C
  * @min 0
  * @max 2.0
  * @decimal 3

src/drivers/power_monitor/ina226/ina226_params.c

@@ -36,7 +36,6 @@
  * INA226 Power Monitor Config
  *
  * @group Sensors
- * @unit u
  * @min 0
  * @max 65535
  * @decimal 1

src/lib/battery/battery_params_deprecated.c

@@ -95,7 +95,7 @@ PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.3f);
  * BAT_V_LOAD_DROP for all calculations.
  *
  * @group Battery Calibration
- * @unit Ohms
+ * @unit Ohm
  * @min -1.0
  * @max 0.2
  * @reboot_required true

src/lib/collision_prevention/collisionprevention_params.c

@@ -46,7 +46,7 @@
  *
  * @min -1
  * @max 15
- * @unit meters
+ * @unit m
  * @group Multicopter Position Control
  */
 PARAM_DEFINE_FLOAT(CP_DIST, -1.0f);
@@ -58,7 +58,7 @@ PARAM_DEFINE_FLOAT(CP_DIST, -1.0f);
  *
  * @min 0
  * @max 1
- * @unit seconds
+ * @unit s
  * @group Multicopter Position Control
  */
 PARAM_DEFINE_FLOAT(CP_DELAY, 0.4f);
@@ -70,7 +70,7 @@ PARAM_DEFINE_FLOAT(CP_DELAY, 0.4f);
  *
  * @min 0
  * @max 90
- * @unit [deg]
+ * @unit deg
  * @group Multicopter Position Control
  */
 PARAM_DEFINE_FLOAT(CP_GUIDE_ANG, 30.f);

src/lib/parameters/parameters_injected.xml

@@ -5,7 +5,7 @@
     <parameter default="75" name="ctl_bw" type="INT32">
       <short_desc>Speed controller bandwidth</short_desc>
       <long_desc>Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.</long_desc>
-      <unit>Hertz</unit>
+      <unit>Hz</unit>
       <min>10</min>
       <max>250</max>
     </parameter>
@@ -24,7 +24,7 @@
             decreased. Higher values result in faster response, but may result
             in oscillation and excessive overshoot. Lower values result in a
             slower, smoother response.</long_desc>
-      <unit>amp-seconds per radian</unit>
+      <unit>C/rad</unit>
       <decimal>3</decimal>
       <min>0.00</min>
       <max>1.00</max>
@@ -32,7 +32,7 @@
     <parameter default="3.5" name="ctl_hz_idle" type="FLOAT">
       <short_desc>Idle speed (e Hz)</short_desc>
       <long_desc>Idle speed (e Hz)</long_desc>
-      <unit>Hertz</unit>
+      <unit>Hz</unit>
       <decimal>3</decimal>
       <min>0.0</min>
       <max>100.0</max>
@@ -40,14 +40,13 @@
     <parameter default="25" name="ctl_start_rate" type="INT32">
       <short_desc>Spin-up rate (e Hz/s)</short_desc>
       <long_desc>Spin-up rate (e Hz/s)</long_desc>
-      <unit>Hz/s</unit>
+      <unit>1/s^2</unit>
       <min>5</min>
       <max>1000</max>
     </parameter>
     <parameter default="0" name="esc_index" type="INT32">
       <short_desc>Index of this ESC in throttle command messages.</short_desc>
       <long_desc>Index of this ESC in throttle command messages.</long_desc>
-      <unit>Index</unit>
       <min>0</min>
       <max>15</max>
     </parameter>
@@ -60,14 +59,14 @@
     <parameter default="50000" name="int_ext_status" type="INT32">
       <short_desc>Extended status interval (µs)</short_desc>
       <long_desc>Extended status interval (µs)</long_desc>
-      <unit>µs</unit>
+      <unit>us</unit>
       <min>0</min>
       <max>1000000</max>
     </parameter>
     <parameter default="50000" name="int_status" type="INT32">
       <short_desc>ESC status interval (µs)</short_desc>
       <long_desc>ESC status interval (µs)</long_desc>
-      <unit>µs</unit>
+      <unit>us</unit>
       <max>1000000</max>
     </parameter>
     <parameter default="12" name="mot_i_max" type="FLOAT">
@@ -78,7 +77,7 @@
             the continuous current rating listed in the motor’s specification
             sheet, or set equal to the motor’s specified continuous power
             divided by the motor voltage limit.</long_desc>
-      <unit>Amps</unit>
+      <unit>A</unit>
       <decimal>3</decimal>
       <min>1</min>
       <max>80</max>
@@ -88,14 +87,14 @@
       <long_desc>Motor Kv in RPM per volt. This can be taken from the motor’s
             specification sheet; accuracy will help control performance but
             some deviation from the specified value is acceptable.</long_desc>
-      <unit>RPM/v</unit>
+      <unit>rpm/V</unit>
       <min>0</min>
       <max>4000</max>
     </parameter>
     <parameter default="0.0" name="mot_ls" type="FLOAT">
       <short_desc>READ ONLY: Motor inductance in henries.</short_desc>
       <long_desc>READ ONLY: Motor inductance in henries. This is measured on start-up.</long_desc>
-      <unit>henries</unit>
+      <unit>H</unit>
       <decimal>3</decimal>
     </parameter>
     <parameter default="14" name="mot_num_poles" type="INT32">
@@ -103,7 +102,6 @@
       <long_desc>Number of motor poles. Used to convert mechanical speeds to
             electrical speeds. This number should be taken from the motor’s
             specification sheet.</long_desc>
-      <unit>Poles</unit>
       <min>2</min>
       <max>40</max>
     </parameter>
@@ -112,13 +110,13 @@
       <long_desc>READ ONLY: Motor resistance in ohms. This is measured on start-up. When
             tuning a new motor, check that this value is approximately equal
             to the value shown in the motor’s specification sheet.</long_desc>
-      <unit>Ohms</unit>
+      <unit>Ohm</unit>
       <decimal>3</decimal>
     </parameter>
     <parameter default="0.5" name="mot_v_accel" type="FLOAT">
       <short_desc>Acceleration limit (V)</short_desc>
       <long_desc>Acceleration limit (V)</long_desc>
-      <unit>Volts</unit>
+      <unit>V</unit>
       <decimal>3</decimal>
       <min>0.01</min>
       <max>1.00</max>
@@ -130,7 +128,7 @@
             safely be above the nominal voltage of the motor; to determine the
             actual motor voltage limit, divide the motor’s rated power by the
             motor current limit.</long_desc>
-      <unit>Volts</unit>
+      <unit>V</unit>
       <decimal>3</decimal>
       <min>0</min>
     </parameter>
@@ -192,7 +190,7 @@
         used in the GNSS solution is below this threshold. Zero
         disables the feature
       </long_desc>
-      <unit>microseconds</unit>
+      <unit>us</unit>
       <min>0</min>
       <max>1000000</max>
     </parameter>

src/lib/parameters/px4params/srcparser.py

@@ -346,6 +346,21 @@ class SourceParser(object):
         Validates the parameter meta data.
         """
         seenParamNames = []
+        #allowedUnits should match set defined in /Firmware/validation/module_schema.yaml
+        allowedUnits = set ([
+                                '%', 'Hz', 'mAh',
+                                'rad', '%/rad', 'rad/s', 'rad/s^2', '%/rad/s',  'rad s^2/m','rad s/m',
+                                'bit/s', 'B/s',
+                                'deg', 'deg*1e7', 'deg/s',
+                                'celcius', 'gauss', 'gauss/s', 'mgauss', 'mgauss^2',
+                                'hPa', 'kg', 'kg/m^2', 'kg m^2',
+                                'mm', 'm', 'm/s', 'm^2', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', 'm/s/rad',
+                                'Ohm', 'V',
+                                'us', 'ms', 's',
+                                'S', 'A/%', '(m/s^2)^2',  'm/m',  'tan(rad)^2', '(m/s)^2', 'm/rad',
+                                'm/s^3/sqrt(Hz)', 'm/s/sqrt(Hz)', 's/(1000*PWM)', '%m/s', 'min', 'us/C', 
+                                'N/(m/s)', 'Nm/(rad/s)', 'Nm', 'N',
+                                'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD',''])
         for group in self.GetParamGroups():
             for param in group.GetParams():
                 name  = param.GetName()
@@ -364,6 +379,10 @@ class SourceParser(object):
                 default = param.GetDefault()
                 min = param.GetFieldValue("min")
                 max = param.GetFieldValue("max")
+                units = param.GetFieldValue("unit")
+                if units not in allowedUnits: 
+                    sys.stderr.write("Invalid unit in {0}: {1}\n".format(name, units))
+                    return False
                 #sys.stderr.write("{0} default:{1} min:{2} max:{3}\n".format(name, default, min, max))
                 if default != "" and not self.IsNumber(default):
                     sys.stderr.write("Default value not number: {0} {1}\n".format(name, default))

src/lib/systemlib/system_params.c

@@ -179,7 +179,7 @@ PARAM_DEFINE_INT32(SYS_CAL_BARO, 0);
  * Calibration will complete for each sensor when the temperature increase above the starting temeprature exceeds the value set by SYS_CAL_TDEL.
  * If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.
  *
- * @unit deg C
+ * @unit celcius
  * @min 10
  * @group System
  */
@@ -190,7 +190,7 @@ PARAM_DEFINE_INT32(SYS_CAL_TDEL, 24);
  *
  * Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.
  *
- * @unit deg C
+ * @unit celcius
  * @group System
  */
 PARAM_DEFINE_INT32(SYS_CAL_TMIN, 5);
@@ -200,7 +200,7 @@ PARAM_DEFINE_INT32(SYS_CAL_TMIN, 5);
  *
  * Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX.
  *
- * @unit deg C
+ * @unit celcius
  * @group System
  */
 PARAM_DEFINE_INT32(SYS_CAL_TMAX, 10);

src/lib/weather_vane/weathervane_params.c

@@ -54,7 +54,7 @@ PARAM_DEFINE_INT32(WV_EN, 0);
  *
  * @min 0.0
  * @max 3.0
- * @unit 1/s
+ * @unit Hz
  * @increment 0.01
  * @decimal 3
  * @group VTOL Attitude Control

src/modules/airspeed_selector/airspeed_selector_params.c

@@ -6,7 +6,7 @@
  *
  * @min 0
  * @max 1
- * @unit m/s/s
+ * @unit m/s^2
  * @group Airspeed Validator
  */
 PARAM_DEFINE_FLOAT(ASPD_W_P_NOISE, 0.1f);
@@ -18,7 +18,7 @@ PARAM_DEFINE_FLOAT(ASPD_W_P_NOISE, 0.1f);
  *
  * @min 0
  * @max 0.1
- * @unit 1/s
+ * @unit Hz
  * @group Airspeed Validator
  */
 PARAM_DEFINE_FLOAT(ASPD_SC_P_NOISE, 0.0001);

src/modules/commander/commander_params.c

@@ -587,7 +587,7 @@ PARAM_DEFINE_FLOAT(COM_ARM_EKF_GB, 0.0011f);
  * Maximum accelerometer inconsistency between IMU units that will allow arming
  *
  * @group Commander
- * @unit m/s/s
+ * @unit m/s^2
  * @min 0.1
  * @max 1.0
  * @decimal 2
@@ -703,7 +703,7 @@ PARAM_DEFINE_INT32(COM_ARM_AUTH_REQ, 0);
  * This sets number of seconds that the position checks need to be failed before the failsafe will activate.
  * The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.
  *
- * @unit sec
+ * @unit s
  * @reboot_required true
  * @group Commander
  * @min 1
@@ -720,7 +720,7 @@ PARAM_DEFINE_INT32(COM_POS_FS_DELAY, 1);
  * If position checks are failing, the probation delay will increase by COM_POS_FS_GAIN seconds for every lapsed second up to a maximum of 100 seconds.
  * The default value has been optimised for rotary wing applications. For fixed wing applications, a value of 1 should be used.
  *
- * @unit sec
+ * @unit s
  * @reboot_required true
  * @group Commander
  * @min 1

src/modules/commander/failure_detector/failure_detector_params.c

@@ -55,7 +55,7 @@
  *
  * @min 60
  * @max 180
- * @unit degrees
+ * @unit deg
  * @group Failure Detector
  */
 PARAM_DEFINE_INT32(FD_FAIL_R, 60);
@@ -73,7 +73,7 @@ PARAM_DEFINE_INT32(FD_FAIL_R, 60);
  *
  * @min 60
  * @max 180
- * @unit degrees
+ * @unit deg
  * @group Failure Detector
  */
 PARAM_DEFINE_INT32(FD_FAIL_P, 60);
@@ -123,7 +123,7 @@ PARAM_DEFINE_INT32(FD_EXT_ATS_EN, 0);
  *
  * External ATS is required by ASTM F3322-18.
  *
- * @unit microseconds
+ * @unit us
  * @decimal 2
  *
  * @group Failure Detector

src/modules/ekf2/ekf2_params.c

@@ -268,7 +268,7 @@ PARAM_DEFINE_FLOAT(EKF2_GYR_NOISE, 1.5e-2f);
  * @group EKF2
  * @min 0.01
  * @max 1.0
- * @unit m/s/s
+ * @unit m/s^2
  * @decimal 2
  */
 PARAM_DEFINE_FLOAT(EKF2_ACC_NOISE, 3.5e-1f);
@@ -279,7 +279,7 @@ PARAM_DEFINE_FLOAT(EKF2_ACC_NOISE, 3.5e-1f);
  * @group EKF2
  * @min 0.0
  * @max 0.01
- * @unit rad/s**2
+ * @unit rad/s^2
  * @decimal 6
  */
 PARAM_DEFINE_FLOAT(EKF2_GYR_B_NOISE, 1.0e-3f);
@@ -290,7 +290,7 @@ PARAM_DEFINE_FLOAT(EKF2_GYR_B_NOISE, 1.0e-3f);
  * @group EKF2
  * @min 0.0
  * @max 0.01
- * @unit m/s**3
+ * @unit m/s^3
  * @decimal 6
  */
 PARAM_DEFINE_FLOAT(EKF2_ACC_B_NOISE, 3.0e-3f);
@@ -301,7 +301,7 @@ PARAM_DEFINE_FLOAT(EKF2_ACC_B_NOISE, 3.0e-3f);
  * @group EKF2
  * @min 0.0
  * @max 0.1
- * @unit Gauss/s
+ * @unit gauss/s
  * @decimal 6
  */
 PARAM_DEFINE_FLOAT(EKF2_MAG_B_NOISE, 1.0e-4f);
@@ -312,7 +312,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_B_NOISE, 1.0e-4f);
  * @group EKF2
  * @min 0.0
  * @max 0.1
- * @unit Gauss/s
+ * @unit gauss/s
  * @decimal 6
  */
 PARAM_DEFINE_FLOAT(EKF2_MAG_E_NOISE, 1.0e-3f);
@@ -323,7 +323,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_E_NOISE, 1.0e-3f);
  * @group EKF2
  * @min 0.0
  * @max 1.0
- * @unit m/s/s
+ * @unit m/s^2
  * @decimal 3
  */
 PARAM_DEFINE_FLOAT(EKF2_WIND_NOISE, 1.0e-1f);
@@ -389,7 +389,7 @@ PARAM_DEFINE_FLOAT(EKF2_HEAD_NOISE, 0.3f);
  * @group EKF2
  * @min 0.001
  * @max 1.0
- * @unit Gauss
+ * @unit gauss
  * @decimal 3
  */
 PARAM_DEFINE_FLOAT(EKF2_MAG_NOISE, 5.0e-2f);
@@ -509,7 +509,7 @@ PARAM_DEFINE_INT32(EKF2_MAG_TYPE, 0);
  * @group EKF2
  * @min 0.0
  * @max 5.0
- * @unit m/s**2
+ * @unit m/s^2
  * @decimal 2
  */
 PARAM_DEFINE_FLOAT(EKF2_MAG_ACCLIM, 0.5f);
@@ -547,7 +547,7 @@ PARAM_DEFINE_FLOAT(EKF2_BARO_GATE, 5.0f);
  * @group EKF2
  * @min 0.0
  * @max 10.0
- * @unit M
+ * @unit m
  * @decimal 1
  */
 PARAM_DEFINE_FLOAT(EKF2_GND_EFF_DZ, 0.0f);
@@ -560,7 +560,7 @@ PARAM_DEFINE_FLOAT(EKF2_GND_EFF_DZ, 0.0f);
  * @group EKF2
  * @min 0.0
  * @max 5.0
- * @unit M
+ * @unit m
  * @decimal 1
  */
 PARAM_DEFINE_FLOAT(EKF2_GND_MAX_HGT, 0.5f);
@@ -666,7 +666,7 @@ PARAM_DEFINE_INT32(EKF2_TERR_MASK, 3);
  * @group EKF2
  * @min 500000
  * @max 10000000
- * @unit uSec
+ * @unit us
  */
 PARAM_DEFINE_INT32(EKF2_NOAID_TOUT, 5000000);
 
@@ -1021,7 +1021,7 @@ PARAM_DEFINE_FLOAT(EKF2_TAU_POS, 0.25f);
  * @group EKF2
  * @min 0.0
  * @max 0.2
- * @unit rad/sec
+ * @unit rad/s
  * @reboot_required true
  * @decimal 2
  */
@@ -1033,7 +1033,7 @@ PARAM_DEFINE_FLOAT(EKF2_GBIAS_INIT, 0.1f);
  * @group EKF2
  * @min 0.0
  * @max 0.5
- * @unit m/s/s
+ * @unit m/s^2
  * @reboot_required true
  * @decimal 2
  */
@@ -1072,7 +1072,7 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_PITCH, 0.0f);
  * @reboot_required true
  * @volatile
  * @category system
- * @unit mGauss
+ * @unit mgauss
  * @decimal 3
  */
 PARAM_DEFINE_FLOAT(EKF2_MAGBIAS_X, 0.0f);
@@ -1087,7 +1087,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAGBIAS_X, 0.0f);
  * @reboot_required true
  * @volatile
  * @category system
- * @unit mGauss
+ * @unit mgauss
  * @decimal 3
  */
 PARAM_DEFINE_FLOAT(EKF2_MAGBIAS_Y, 0.0f);
@@ -1102,7 +1102,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAGBIAS_Y, 0.0f);
  * @reboot_required true
  * @volatile
  * @category system
- * @unit mGauss
+ * @unit mgauss
  * @decimal 3
  */
 PARAM_DEFINE_FLOAT(EKF2_MAGBIAS_Z, 0.0f);
@@ -1122,7 +1122,7 @@ PARAM_DEFINE_INT32(EKF2_MAGBIAS_ID, 0);
  *
  * @group EKF2
  * @reboot_required true
- * @unit mGauss**2
+ * @unit mgauss^2
  * @decimal 8
  */
 PARAM_DEFINE_FLOAT(EKF2_MAGB_VREF, 2.5E-7f);
@@ -1226,7 +1226,7 @@ PARAM_DEFINE_FLOAT(EKF2_EVP_GATE, 5.0f);
  * @group EKF2
  * @min 0.5
  * @max 10.0
- * @unit (m/sec**2)**2
+ * @unit (m/s^2)^2
  * @decimal 2
  */
 PARAM_DEFINE_FLOAT(EKF2_DRAG_NOISE, 2.5f);
@@ -1238,7 +1238,7 @@ PARAM_DEFINE_FLOAT(EKF2_DRAG_NOISE, 2.5f);
  * @group EKF2
  * @min 1.0
  * @max 100.0
- * @unit kg/m**2
+ * @unit kg/m^2
  * @decimal 1
  */
 PARAM_DEFINE_FLOAT(EKF2_BCOEF_X, 25.0f);
@@ -1250,7 +1250,7 @@ PARAM_DEFINE_FLOAT(EKF2_BCOEF_X, 25.0f);
  * @group EKF2
  * @min 1.0
  * @max 100.0
- * @unit kg/m**2
+ * @unit kg/m^2
  * @decimal 1
  */
 PARAM_DEFINE_FLOAT(EKF2_BCOEF_Y, 25.0f);
@@ -1331,7 +1331,7 @@ PARAM_DEFINE_FLOAT(EKF2_PCOEF_Z, 0.0f);
  * @group EKF2
  * @min 0.0
  * @max 0.8
- * @unit m/s/s
+ * @unit m/s^2
  * @decimal 2
  */
 PARAM_DEFINE_FLOAT(EKF2_ABL_LIM, 0.4f);
@@ -1344,7 +1344,7 @@ PARAM_DEFINE_FLOAT(EKF2_ABL_LIM, 0.4f);
  * @group EKF2
  * @min 20.0
  * @max 200.0
- * @unit m/s/s
+ * @unit m/s^2
  * @decimal 1
  */
 PARAM_DEFINE_FLOAT(EKF2_ABL_ACCLIM, 25.0f);

src/modules/fw_att_control/fw_att_control_params.c

@@ -617,7 +617,7 @@ PARAM_DEFINE_INT32(FW_BAT_SCALE_EN, 0);
  *
  * @min 45
  * @max 720
- * @unit degrees
+ * @unit deg
  * @group FW Attitude Control
  */
 PARAM_DEFINE_FLOAT(FW_ACRO_X_MAX, 90);
@@ -630,7 +630,7 @@ PARAM_DEFINE_FLOAT(FW_ACRO_X_MAX, 90);
  *
  * @min 45
  * @max 720
- * @unit degrees
+ * @unit deg
  * @group FW Attitude Control
  */
 PARAM_DEFINE_FLOAT(FW_ACRO_Y_MAX, 90);
@@ -643,7 +643,7 @@ PARAM_DEFINE_FLOAT(FW_ACRO_Y_MAX, 90);
  *
  * @min 10
  * @max 180
- * @unit degrees
+ * @unit deg
  * @group FW Attitude Control
  */
 PARAM_DEFINE_FLOAT(FW_ACRO_Z_MAX, 45);

src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c

@@ -592,7 +592,7 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
  * allows for reasonably aggressive pitch changes if required to recover
  * from under-speed conditions.
  *
- * @unit m/s/s
+ * @unit m/s^2
  * @min 1.0
  * @max 10.0
  * @decimal 1

src/modules/fw_pos_control_l1/launchdetection/launchdetection_params.c

@@ -57,7 +57,7 @@ PARAM_DEFINE_INT32(LAUN_ALL_ON, 0);
  *
  * LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.
  *
- * @unit m/s/s
+ * @unit m/s^2
  * @min 0
  * @decimal 1
  * @increment 0.5

src/modules/local_position_estimator/params.c

@@ -28,7 +28,7 @@ PARAM_DEFINE_FLOAT(LPE_FLW_SCALE, 1.3f);
  * Optical flow rotation (roll/pitch) noise gain
  *
  * @group Local Position Estimator
- * @unit m/s / (rad)
+ * @unit m/s/rad
  * @min 0.1
  * @max 10.0
  * @decimal 3
@@ -39,7 +39,7 @@ PARAM_DEFINE_FLOAT(LPE_FLW_R, 7.0f);
  * Optical flow angular velocity noise gain
  *
  * @group Local Position Estimator
- * @unit m/s / (rad/s)
+ * @unit m/rad
  * @min 0.0
  * @max 10.0
  * @decimal 3
@@ -143,7 +143,7 @@ PARAM_DEFINE_FLOAT(LPE_BAR_Z, 3.0f);
  * GPS delay compensaton
  *
  * @group Local Position Estimator
- * @unit sec
+ * @unit s
  * @min 0
  * @max 0.4
  * @decimal 2
@@ -224,7 +224,7 @@ PARAM_DEFINE_FLOAT(LPE_EPV_MAX, 5.0f);
  * Set to zero to enable automatic compensation from measurement timestamps
  *
  * @group Local Position Estimator
- * @unit sec
+ * @unit s
  * @min 0
  * @max 0.1
  * @decimal 2
@@ -285,7 +285,7 @@ PARAM_DEFINE_FLOAT(LPE_PN_P, 0.1f);
  * Decrease to trust model more.
  *
  * @group Local Position Estimator
- * @unit (m/s)/s/sqrt(Hz)
+ * @unit m/s^2/sqrt(Hz)
  * @min 0
  * @max 1
  * @decimal 8
@@ -296,7 +296,7 @@ PARAM_DEFINE_FLOAT(LPE_PN_V, 0.1f);
  * Accel bias propagation noise density
  *
  * @group Local Position Estimator
- * @unit (m/s^2)/s/sqrt(Hz)
+ * @unit m/s^3/sqrt(Hz)
  * @min 0
  * @max 1
  * @decimal 8
@@ -307,7 +307,7 @@ PARAM_DEFINE_FLOAT(LPE_PN_B, 1e-3f);
  * Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)
  *
  * @group Local Position Estimator
- * @unit (m/s)/(sqrt(hz))
+ * @unit m/s/sqrt(Hz)
  * @min 0
  * @max 1
  * @decimal 3

src/modules/mc_att_control/mc_att_control_params.c

@@ -44,7 +44,7 @@
  *
  * Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
  *
- * @unit 1/s
+ * @unit Hz
  * @min 0.0
  * @max 12
  * @decimal 2
@@ -58,7 +58,7 @@ PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.5f);
  *
  * Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
  *
- * @unit 1/s
+ * @unit Hz
  * @min 0.0
  * @max 12
  * @decimal 2
@@ -72,7 +72,7 @@ PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f);
  *
  * Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
  *
- * @unit 1/s
+ * @unit Hz
  * @min 0.0
  * @max 5
  * @decimal 2
@@ -91,7 +91,7 @@ PARAM_DEFINE_FLOAT(MC_YAW_P, 2.8f);
  *
  * For yaw control tuning use MC_YAW_P. This ratio has no inpact on the yaw gain.
  *
- * @unit 1/s
+ * @unit Hz
  * @min 0.0
  * @max 1.0
  * @decimal 2

src/modules/mc_pos_control/mc_pos_control_params.c

@@ -465,7 +465,7 @@ PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
  *
  * Maximum deceleration for MPC_POS_MODE 1. Maximum acceleration and deceleration for MPC_POS_MODE 3.
  *
- * @unit m/s/s
+ * @unit m/s^2
  * @min 2.0
  * @max 15.0
  * @increment 1
@@ -479,7 +479,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f);
  *
  * Note: In manual, this parameter is only used in MPC_POS_MODE 1.
  *
- * @unit m/s/s
+ * @unit m/s^2
  * @min 2.0
  * @max 15.0
  * @increment 1
@@ -494,7 +494,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f);
  *
  * Note: This is only used when MPC_POS_MODE is set to 1.
  *
- * @unit m/s/s
+ * @unit m/s^2
  * @min 0.5
  * @max 10.0
  * @increment 1
@@ -506,7 +506,7 @@ PARAM_DEFINE_FLOAT(MPC_DEC_HOR_SLOW, 5.0f);
 /**
  * Maximum vertical acceleration in velocity controlled modes upward
  *
- * @unit m/s/s
+ * @unit m/s^2
  * @min 2.0
  * @max 15.0
  * @increment 1
@@ -518,7 +518,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 4.0f);
 /**
  * Maximum vertical acceleration in velocity controlled modes down
  *
- * @unit m/s/s
+ * @unit m/s^2
  * @min 2.0
  * @max 15.0
  * @increment 1
@@ -538,7 +538,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f);
  *
  * Note: This is only used when MPC_POS_MODE is set to a smoothing mode 1 or 3.
  *
- * @unit m/s/s/s
+ * @unit m/s^3
  * @min 0.5
  * @max 500.0
  * @increment 1
@@ -561,7 +561,7 @@ PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.0f);
  *
  * Note: This is only used when MPC_POS_MODE is set to 1.
  *
- * @unit m/s/s/s
+ * @unit m/s^3
  * @min 0
  * @max 30.0
  * @increment 1
@@ -577,7 +577,7 @@ PARAM_DEFINE_FLOAT(MPC_JERK_MIN, 8.0f);
  * A lower value leads to smoother vehicle motions, but it also limits its
  * agility.
  *
- * @unit m/s/s/s
+ * @unit m/s^3
  * @min 1.0
  * @max 80.0
  * @increment 1

src/modules/navigator/follow_target_params.c

@@ -48,7 +48,7 @@
  *
  * The minimum height in meters relative to home for following a target
  *
- * @unit meters
+ * @unit m
  * @min 8.0
  * @group Follow target
  */
@@ -59,7 +59,7 @@ PARAM_DEFINE_FLOAT(NAV_MIN_FT_HT, 8.0f);
  *
  * The distance in meters to follow the target at
  *
- * @unit meters
+ * @unit m
  * @min 1.0
  * @group Follow target
  */
@@ -70,7 +70,6 @@ PARAM_DEFINE_FLOAT(NAV_FT_DST, 8.0f);
  *
  * The side to follow the target from (front right = 0, behind = 1, front = 2, front left = 3)
  *
- * @unit n/a
  * @min 0
  * @max 3
  * @group Follow target
@@ -82,7 +81,6 @@ PARAM_DEFINE_INT32(NAV_FT_FS, 1);
  * lower numbers increase the responsiveness to changing long lat
  * but also ignore less noise
  *
- * @unit n/a
  * @min 0.0
  * @max 1.0
  * @decimal 2

src/modules/navigator/navigator_params.c

@@ -159,7 +159,7 @@ PARAM_DEFINE_FLOAT(NAV_TRAFF_A_RADU, 10);
  *
  * Latitude of airfield home waypoint
  *
- * @unit deg * 1e7
+ * @unit deg*1e7
  * @min -900000000
  * @max 900000000
  * @group Data Link Loss
@@ -171,7 +171,7 @@ PARAM_DEFINE_INT32(NAV_AH_LAT, -265847810);
  *
  * Longitude of airfield home waypoint
  *
- * @unit deg * 1e7
+ * @unit deg*1e7
  * @min -1800000000
  * @max 1800000000
  * @group Data Link Loss

src/modules/navigator/rtl_params.c

@@ -123,7 +123,7 @@ PARAM_DEFINE_INT32(RTL_TYPE, 0);
  * Defines the half-angle of a cone centered around the destination position that
  * affects the altitude at which the vehicle returns.
  *
- * @unit degrees
+ * @unit deg
  * @min 0
  * @max 90
  * @value 0 No cone, always climb to RTL_RETURN_ALT above destination.

src/modules/sensors/sensor_params.c

@@ -59,7 +59,7 @@ PARAM_DEFINE_INT32(CAL_AIR_CMODEL, 0);
  *
  * @min 0.01
  * @max 2.00
- * @unit meter
+ * @unit m
  *
  * @group Sensors
  */
@@ -70,7 +70,7 @@ PARAM_DEFINE_FLOAT(CAL_AIR_TUBELEN, 0.2f);
  *
  * @min 0.1
  * @max 100
- * @unit millimeter
+ * @unit mm
  *
  * @group Sensors
  */

src/modules/sih/sih_params.c

@@ -58,7 +58,7 @@ PARAM_DEFINE_FLOAT(SIH_MASS, 1.0f);
  * The intertia is a 3 by 3 symmetric matrix.
  * It represents the difficulty of the vehicle to modify its angular rate.
  *
- * @unit kg*m*m
+ * @unit kg m^2
  * @min 0.0
  * @decimal 3
  * @increment 0.005
@@ -72,7 +72,7 @@ PARAM_DEFINE_FLOAT(SIH_IXX, 0.025f);
  * The intertia is a 3 by 3 symmetric matrix.
  * It represents the difficulty of the vehicle to modify its angular rate.
  *
- * @unit kg*m*m
+ * @unit kg m^2
  * @min 0.0
  * @decimal 3
  * @increment 0.005
@@ -86,7 +86,7 @@ PARAM_DEFINE_FLOAT(SIH_IYY, 0.025f);
  * The intertia is a 3 by 3 symmetric matrix.
  * It represents the difficulty of the vehicle to modify its angular rate.
  *
- * @unit kg*m*m
+ * @unit kg m^2
  * @min 0.0
  * @decimal 3
  * @increment 0.005
@@ -100,7 +100,7 @@ PARAM_DEFINE_FLOAT(SIH_IZZ, 0.030f);
  * The intertia is a 3 by 3 symmetric matrix.
  * This value can be set to 0 for a quad symmetric about its center of mass.
  *
- * @unit kg*m*m
+ * @unit kg m^2
  * @decimal 3
  * @increment 0.005
  * @group Simulation In Hardware
@@ -113,7 +113,7 @@ PARAM_DEFINE_FLOAT(SIH_IXY, 0.0f);
  * The intertia is a 3 by 3 symmetric matrix.
  * This value can be set to 0 for a quad symmetric about its center of mass.
  *
- * @unit kg*m*m
+ * @unit kg m^2
  * @decimal 3
  * @increment 0.005
  * @group Simulation In Hardware
@@ -126,7 +126,7 @@ PARAM_DEFINE_FLOAT(SIH_IXZ, 0.0f);
  * The intertia is a 3 by 3 symmetric matrix.
  * This value can be set to 0 for a quad symmetric about its center of mass.
  *
- * @unit kg*m*m
+ * @unit kg m^2
  * @decimal 3
  * @increment 0.005
  * @group Simulation In Hardware
@@ -240,7 +240,7 @@ PARAM_DEFINE_FLOAT(SIH_KDW, 0.025f);
  * LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
  * to represent a physical ground location on Earth.
  *
- * @unit 1e-7 deg
+ * @unit deg*1e7
  * @min -850000000
  * @max  850000000
  * @group Simulation In Hardware
@@ -256,7 +256,7 @@ PARAM_DEFINE_INT32(SIH_LOC_LAT0, 454671160);
  * LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
  * to represent a physical ground location on Earth.
  *
- * @unit 1e-7 deg
+ * @unit deg*1e7
  * @min -1800000000
  * @max  1800000000
  * @group Simulation In Hardware
@@ -295,7 +295,7 @@ PARAM_DEFINE_FLOAT(SIH_LOC_H0, 32.34f);
  * LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
  * to represent a physical ground location on Earth.
  *
- * @unit Gauss
+ * @unit gauss
  * @min -1.0
  * @max  1.0
  * @decimal 2
@@ -315,7 +315,7 @@ PARAM_DEFINE_FLOAT(SIH_LOC_MU_X,  0.179f);
  * LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
  * to represent a physical ground location on Earth.
  *
- * @unit Gauss
+ * @unit gauss
  * @min -1.0
  * @max  1.0
  * @decimal 2
@@ -335,7 +335,7 @@ PARAM_DEFINE_FLOAT(SIH_LOC_MU_Y, -0.045f);
  * LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
  * to represent a physical ground location on Earth.
  *
- * @unit Gauss
+ * @unit gauss
  * @min -1.0
  * @max  1.0
  * @decimal 2

src/modules/vtol_att_control/vtol_att_control_params.c

@@ -151,7 +151,7 @@ PARAM_DEFINE_FLOAT(VT_B_TRANS_THR, 0.0f);
  * Used to calculate back transition distance in mission mode. A lower value will make the VTOL transition further from the destination waypoint.
  * For standard vtol and tiltrotors a controller is used to track this value during the transition.
  *
- * @unit m/s/s
+ * @unit m/s^2
  * @min 0.5
  * @max 10
  * @increment 0.1
@@ -263,7 +263,7 @@ PARAM_DEFINE_INT32(VT_FW_QC_R, 0);
  *
  * The duration of the front transition when there is no airspeed feedback available.
  *
- * @unit seconds
+ * @unit s
  * @min 1.0
  * @max 30.0
  * @group VTOL Attitude Control
@@ -321,7 +321,7 @@ PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_SC, 0.1f);
  * Backtransition deceleration setpoint to pitch feedforward gain.
  *
  *
- * @unit rad*s*s/m
+ * @unit rad s^2/m
  * @min 0
  * @max 0.2
  * @decimal 1
@@ -334,7 +334,7 @@ PARAM_DEFINE_FLOAT(VT_B_DEC_FF, 0.12f);
  * Backtransition deceleration setpoint to pitch I gain.
  *
  *
- * @unit rad*s/m
+ * @unit rad s/m
  * @min 0
  * @max 0.3
  * @decimal 1

validation/module_schema.yaml

@@ -135,14 +135,18 @@ parameters:
                             type: string
                             allowed: [
                                 '%', 'Hz', 'mAh',
-                                'rad', '%/rad', 'rad/s',
+                                'rad', '%/rad', 'rad/s', 'rad/s^2', '%/rad/s',  'rad s^2/m','rad s/m',
                                 'bit/s', 'B/s',
                                 'deg', 'deg*1e7', 'deg/s',
                                 'celcius', 'gauss', 'gauss/s', 'mgauss', 'mgauss^2',
-                                'hPa', 'kg', 'kg/m^2',
-                                'mm', 'm', 'm/s', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', 'm/s/rad',
+                                'hPa', 'kg', 'kg/m^2', 'kg m^2',
+                                'mm', 'm', 'm/s', 'm^2', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', 'm/s/rad',
                                 'Ohm', 'V',
-                                'us', 'ms', 's' ]
+                                'us', 'ms', 's',
+                                'S', 'A/%', '(m/s^2)^2',  'm/m',  'tan(rad)^2', '(m/s)^2', 'm/rad',
+                                'm/s^3/sqrt(Hz)', 'm/s/sqrt(Hz)', 's/(1000*PWM)', '%m/s', 'min', 'us/C', 
+                                'N/(m/s)', 'Nm/(rad/s)', 'Nm', 'N',
+                                'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD']
                         bit:
                             # description of all bits for type bitmask.
                             # The first bit is 0.