<commit_before>/****************************************************************************
 *
 *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * Invert direction of aux output channel 1
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
 * @reboot_required true
 * @boolean
 * @group PWM Outputs
 */
PARAM_DEFINE_INT32(PWM_AUX_REV1, 0);

/**
 * Invert direction of aux output channel 2
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
 * @reboot_required true
 * @boolean
 * @group PWM Outputs
 */
PARAM_DEFINE_INT32(PWM_AUX_REV2, 0);

/**
 * Invert direction of aux output channel 3
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
 * @reboot_required true
 * @boolean
 * @group PWM Outputs
 */
PARAM_DEFINE_INT32(PWM_AUX_REV3, 0);

/**
 * Invert direction of aux output channel 4
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
 * @reboot_required true
 * @boolean
 * @group PWM Outputs
 */
PARAM_DEFINE_INT32(PWM_AUX_REV4, 0);

/**
 * Invert direction of aux output channel 5
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
 * @reboot_required true
 * @boolean
 * @group PWM Outputs
 */
PARAM_DEFINE_INT32(PWM_AUX_REV5, 0);

/**
 * Invert direction of aux output channel 6
 *
 * Set to 1 to invert the channel, 0 for default direction.
 *
 * @reboot_required true
 * @boolean
 * @group PWM Outputs
 */
PARAM_DEFINE_INT32(PWM_AUX_REV6, 0);

/**
 * Trim value for FMU PWM output channel 1
 *
 * Set to normalized offset
 *
 * @min -0.2
 * @max 0.2
 * @decimal 2
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM1, 0);

/**
 * Trim value for FMU PWM output channel 2
 *
 * Set to normalized offset
 *
 * @min -0.2
 * @max 0.2
 * @decimal 2
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM2, 0);

/**
 * Trim value for FMU PWM output channel 3
 *
 * Set to normalized offset
 *
 * @min -0.2
 * @max 0.2
 * @decimal 2
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM3, 0);

/**
 * Trim value for FMU PWM output channel 4
 *
 * Set to normalized offset
 *
 * @min -0.2
 * @max 0.2
 * @decimal 2
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM4, 0);

/**
 * Trim value for FMU PWM output channel 5
 *
 * Set to normalized offset
 *
 * @min -0.2
 * @max 0.2
 * @decimal 2
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM5, 0);

/**
 * Trim value for FMU PWM output channel 6
 *
 * Set to normalized offset
 *
 * @min -0.2
 * @max 0.2
 * @decimal 2
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM6, 0);

/**
 * Thrust to PWM model parameter
 *
 * Parameter used to model the relationship between static thrust and motor
 * input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2
 *
 * @min 0.0
 * @max 1.0
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f);

/**
 * Minimum motor rise time (slew rate limit).
 *
 * Minimum time allowed for the motor input signal to pass through
 * a range of 1000 PWM units. A value x means that the motor signal
 * can only go from 1000 to 2000 PWM in maximum x seconds.
 *
 * Zero means that slew rate limiting is disabled.
 *
 * @min 0.0
 * @unit s/(1000*PWM)
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(MOT_SLEW_MAX, 0.0f);

/**
 * Run the FMU as a task to reduce latency
 *
 * If true, the FMU will run in a separate task instead of on the work queue.
 * Set this if low latency is required, for example for racing.
 *
 * This is a trade-off between RAM usage and latency: running as a task, it
 * requires a separate stack and directly polls on the control topics, whereas
 * running on the work queue, it runs at a fixed update rate.
 *
 * @boolean
 * @reboot_required true
 * @group System
 */
PARAM_DEFINE_INT32(SYS_FMU_TASK, 0);
<commit_msg>FMU: Remove hint that parameter change requires reboot<commit_after>/****************************************************************************
 *
 *   Copyright (c) 2015-2018 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * Invert direction of aux output channel 1
 *
 * Enable to invert the channel.
 *
 * @boolean
 * @group PWM Outputs
 */
PARAM_DEFINE_INT32(PWM_AUX_REV1, 0);

/**
 * Invert direction of aux output channel 2
 *
 * Enable to invert the channel.
 *
 * @boolean
 * @group PWM Outputs
 */
PARAM_DEFINE_INT32(PWM_AUX_REV2, 0);

/**
 * Invert direction of aux output channel 3
 *
 * Enable to invert the channel.
 *
 * @boolean
 * @group PWM Outputs
 */
PARAM_DEFINE_INT32(PWM_AUX_REV3, 0);

/**
 * Invert direction of aux output channel 4
 *
 * Enable to invert the channel.
 *
 * @boolean
 * @group PWM Outputs
 */
PARAM_DEFINE_INT32(PWM_AUX_REV4, 0);

/**
 * Invert direction of aux output channel 5
 *
 * Enable to invert the channel.
 *
 * @boolean
 * @group PWM Outputs
 */
PARAM_DEFINE_INT32(PWM_AUX_REV5, 0);

/**
 * Invert direction of aux output channel 6
 *
 * Enable to invert the channel.
 *
 * @boolean
 * @group PWM Outputs
 */
PARAM_DEFINE_INT32(PWM_AUX_REV6, 0);

/**
 * Trim value for FMU PWM output channel 1
 *
 * Set to normalized offset
 *
 * @min -0.2
 * @max 0.2
 * @decimal 2
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM1, 0);

/**
 * Trim value for FMU PWM output channel 2
 *
 * Set to normalized offset
 *
 * @min -0.2
 * @max 0.2
 * @decimal 2
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM2, 0);

/**
 * Trim value for FMU PWM output channel 3
 *
 * Set to normalized offset
 *
 * @min -0.2
 * @max 0.2
 * @decimal 2
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM3, 0);

/**
 * Trim value for FMU PWM output channel 4
 *
 * Set to normalized offset
 *
 * @min -0.2
 * @max 0.2
 * @decimal 2
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM4, 0);

/**
 * Trim value for FMU PWM output channel 5
 *
 * Set to normalized offset
 *
 * @min -0.2
 * @max 0.2
 * @decimal 2
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM5, 0);

/**
 * Trim value for FMU PWM output channel 6
 *
 * Set to normalized offset
 *
 * @min -0.2
 * @max 0.2
 * @decimal 2
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM6, 0);

/**
 * Thrust to PWM model parameter
 *
 * Parameter used to model the relationship between static thrust and motor
 * input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2
 *
 * @min 0.0
 * @max 1.0
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f);

/**
 * Minimum motor rise time (slew rate limit).
 *
 * Minimum time allowed for the motor input signal to pass through
 * a range of 1000 PWM units. A value x means that the motor signal
 * can only go from 1000 to 2000 PWM in maximum x seconds.
 *
 * Zero means that slew rate limiting is disabled.
 *
 * @min 0.0
 * @unit s/(1000*PWM)
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(MOT_SLEW_MAX, 0.0f);

/**
 * Run the FMU as a task to reduce latency
 *
 * If true, the FMU will run in a separate task instead of on the work queue.
 * Set this if low latency is required, for example for racing.
 *
 * This is a trade-off between RAM usage and latency: running as a task, it
 * requires a separate stack and directly polls on the control topics, whereas
 * running on the work queue, it runs at a fixed update rate.
 *
 * @boolean
 * @reboot_required true
 * @group System
 */
PARAM_DEFINE_INT32(SYS_FMU_TASK, 0);

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