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AP_InertialSensor: Update parameter documentation 

Add brief description of body frame conventions.
master
priseborough 8 years ago committed by Andrew Tridgell
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470f5c4562
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7460d97c9a
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. 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.
// @Description: X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. 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. 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.
// @Description: Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. 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. 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.
// @Description: Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. 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. 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.
// @Description: X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. 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. 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.
// @Description: Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. 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. 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.
// @Description: Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. 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. 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.
// @Description: X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. 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. 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.
// @Description: Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. 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. 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.
// @Description: Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. 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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