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AP_InertialSensor: Update position offset parameter documentation 

Notify users of the potential for velocity noise when using larger offset values..
Specific advice in terms of values has not been provided because it is highly dependent on Gyro noise levels.
master
priseborough 8 years ago committed by Andrew Tridgell
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13ca62b1c7
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54a431a51d
1 changed files with 9 additions and 9 deletions
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  1. 18
      libraries/AP_InertialSensor/AP_InertialSensor.cpp

18
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -321,57 +321,57 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = { @@ -321,57 +321,57 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @Param: POS1_X
// @DisplayName: IMU accelerometer X position
// @Description: X position of the first IMU Accelerometer in body frame.
// @Description: X position of the first IMU Accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
// @Param: POS1_Y
// @DisplayName: IMU accelerometer Y position
// @Description: Y position of the first IMU accelerometer in body frame.
// @Description: Y position of the first IMU accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
// @Param: POS1_Z
// @DisplayName: IMU accelerometer Z position
// @Description: Z position of the first IMU accelerometer in body frame.
// @Description: Z position of the first IMU accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
AP_GROUPINFO("POS1", 27, AP_InertialSensor, _accel_pos[0], 0.0f),
// @Param: POS2_X
// @DisplayName: IMU accelerometer X position
// @Description: X position of the second IMU accelerometer in body frame.
// @Description: X position of the second IMU accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
// @Param: POS2_Y
// @DisplayName: IMU accelerometer Y position
// @Description: Y position of the second IMU accelerometer in body frame.
// @Description: Y position of the second IMU accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
// @Param: POS2_Z
// @DisplayName: IMU accelerometer Z position
// @Description: Z position of the second IMU accelerometer in body frame.
// @Description: Z position of the second IMU accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
AP_GROUPINFO("POS2", 28, AP_InertialSensor, _accel_pos[1], 0.0f),
// @Param: POS3_X
// @DisplayName: IMU accelerometer X position
// @Description: X position of the third IMU accelerometer in body frame.
// @Description: X position of the third IMU accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
// @Param: POS3_Y
// @DisplayName: IMU accelerometer Y position
// @Description: Y position of the third IMU accelerometer in body frame.
// @Description: Y position of the third IMU accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
// @Param: POS3_Z
// @DisplayName: IMU accelerometer Z position
// @Description: Z position of the third IMU accelerometer in body frame.
// @Description: Z position of the third IMU accelerometer in body frame. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @User: Advanced
AP_GROUPINFO("POS3", 29, AP_InertialSensor, _accel_pos[2], 0.0f),

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