diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde
index 83d6b2a0710191a94376be51749513e9ff1f4ddb..c7ff129f46f941c41b381b40a847f0a21a6c0639 100644
--- a/ArduPlane/Parameters.pde
+++ b/ArduPlane/Parameters.pde
@@ -25,6 +25,14 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
// @User: Standard
GSCALAR(serial3_baud, "SERIAL3_BAUD"),
+
+ // @Param: KFF_PTCHCOMP
+ // @DisplayName: Pitch Compensation
+ // @Description: Adds pitch input to compensate for the loss of lift due to roll control.
+ // @Units: Percent
+ // @Range: 0 1
+ // @Increment: 0.1
+ // @User: Advanced
GSCALAR(kff_pitch_compensation, "KFF_PTCHCOMP"),
// @Param: KFF_RDDRMIX
@@ -35,7 +43,21 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Increment: 0.1
// @User: Standard
GSCALAR(kff_rudder_mix, "KFF_RDDRMIX"),
+
+ // @Param: KFF_PTCH2THR
+ // @DisplayName: Pitch to Throttle Mix
+ // @Description: Pitch to throttle feed-forward gain.
+ // @Range: 0 5
+ // @Increment: 0.1
+ // @User: Advanced
GSCALAR(kff_pitch_to_throttle, "KFF_PTCH2THR"),
+
+ // @Param: KFF_THR2PTCH
+ // @DisplayName: Throttle to Pitch Mix
+ // @Description: Throttle to pitch feed-forward gain.
+ // @Range: 0 5
+ // @Increment: 0.1
+ // @User: Advanced
GSCALAR(kff_throttle_to_pitch, "KFF_THR2PTCH"),
// @Param: MANUAL_LEVEL
@@ -45,7 +67,22 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(manual_level, "MANUAL_LEVEL"),
+ // @Param: XTRK_GAIN_SC
+ // @DisplayName: Crosstrack Gain
+ // @Description: The scale between distance off the line and angle to meet the line (in Degrees * 100)
+ // @Units: Degrees
+ // @Range: 0 2000
+ // @Increment: 1
+ // @User: Standard
GSCALAR(crosstrack_gain, "XTRK_GAIN_SC"),
+
+ // @Param: XTRK_ANGLE_CD
+ // @DisplayName: Crosstrack Entry Angle
+ // @Description: Maximum angle used to correct for track following.
+ // @Units: Degrees
+ // @Range: 0 90
+ // @Increment: 1
+ // @User: Standard
GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD"),
// @Param: ALT_MIX
@@ -56,12 +93,37 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Increment: 0.1
// @User: Advanced
GSCALAR(altitude_mix, "ALT_MIX"),
+
+ // @Param: ARSPD_RATIO
+ // @DisplayName: Airspeed Ratio
+ // @Description: Used to scale raw adc airspeed sensor to a SI Unit (m/s)
+ // @Units: Scale
+ // @Range: 0 5
+ // @Increment: 0.001
+ // @User: Advanced
GSCALAR(airspeed_ratio, "ARSPD_RATIO"),
+
GSCALAR(airspeed_offset, "ARSPD_OFFSET"),
GSCALAR(command_total, "CMD_TOTAL"),
GSCALAR(command_index, "CMD_INDEX"),
+
+ // @Param: WP_RADIUS
+ // @DisplayName: Waypoint Radius
+ // @Description: Defines the distance from a waypoint, that when crossed indicates the wp has been hit.
+ // @Units: Meters
+ // @Range: 1 127
+ // @Increment: 1
+ // @User: Standard
GSCALAR(waypoint_radius, "WP_RADIUS"),
+
+ // @Param: WP_LOITER_RAD
+ // @DisplayName: Waypoint Loiter Radius
+ // @Description: Defines the distance from the waypoint center, the plane will maintain during a loiter
+ // @Units: Meters
+ // @Range: 1 127
+ // @Increment: 1
+ // @User: Standard
GSCALAR(loiter_radius, "WP_LOITER_RAD"),
#if GEOFENCE_ENABLED == ENABLED
@@ -71,15 +133,53 @@ static const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(fence_minalt, "FENCE_MINALT"),
GSCALAR(fence_maxalt, "FENCE_MAXALT"),
#endif
-
+
+ // @Param: ARSPD_FBW_MIN
+ // @DisplayName: Fly By Wire Minimum Airspeed
+ // @Description: Airspeed corresponding to minimum throttle in Fly By Wire B mode.
+ // @Units: m/s
+ // @Range: 5 50
+ // @Increment: 1
+ // @User: Standard
GSCALAR(flybywire_airspeed_min, "ARSPD_FBW_MIN"),
+
+ // @Param: ARSPD_FBW_MAX
+ // @DisplayName: Fly By Wire Maximum Airspeed
+ // @Description: Airspeed corresponding to maximum throttle in Fly By Wire B mode.
+ // @Units: m/s
+ // @Range: 5 50
+ // @Increment: 1
+ // @User: Standard
GSCALAR(flybywire_airspeed_max, "ARSPD_FBW_MAX"),
-
+ // @Param: THR_MIN
+ // @DisplayName: Minimum Throttle
+ // @Description: The minimum throttle setting to which the autopilot will apply.
+ // @Units: Percent
+ // @Range: 0 100
+ // @Increment: 1
+ // @User: Standard
GSCALAR(throttle_min, "THR_MIN"),
+
+ // @Param: THR_MAX
+ // @DisplayName: Maximum Throttle
+ // @Description: The maximum throttle setting to which the autopilot will apply.
+ // @Units: Percent
+ // @Range: 0 100
+ // @Increment: 1
+ // @User: Standard
GSCALAR(throttle_max, "THR_MAX"),
GSCALAR(throttle_slewrate, "THR_SLEWRATE"),
+
+ // @Param: THR_FAILSAFE
+ // @DisplayName: Throttle Failsafe Enable
+ // @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
+ // @Units: Percent
+ // @Values: 0:Disabled,1:Enabled
+ // @User: Standard
GSCALAR(throttle_fs_enabled, "THR_FAILSAFE"),
+
+
GSCALAR(throttle_fs_value, "THR_FS_VALUE"),
GSCALAR(throttle_cruise, "TRIM_THROTTLE"),
@@ -95,8 +195,31 @@ static const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(flight_mode5, "FLTMODE5"),
GSCALAR(flight_mode6, "FLTMODE6"),
+ // @Param: LIM_ROLL_CD
+ // @DisplayName: Maximum Bank Angle
+ // @Description: The maximum commanded bank angle in either direction
+ // @Units: Degrees
+ // @Range: 0 90
+ // @Increment: 1
+ // @User: Standard
GSCALAR(roll_limit, "LIM_ROLL_CD"),
+
+ // @Param: LIM_PITCH_MAX
+ // @DisplayName: Maximum Pitch Angle
+ // @Description: The maximum commanded pitch up angle
+ // @Units: Degrees
+ // @Range: 0 90
+ // @Increment: 1
+ // @User: Standard
GSCALAR(pitch_limit_max, "LIM_PITCH_MAX"),
+
+ // @Param: LIM_PITCH_MIN
+ // @DisplayName: Minimum Pitch Angle
+ // @Description: The minimum commanded pitch down angle
+ // @Units: Degrees
+ // @Range: 0 90
+ // @Increment: 1
+ // @User: Standard
GSCALAR(pitch_limit_min, "LIM_PITCH_MIN"),
GSCALAR(auto_trim, "TRIM_AUTO"),
@@ -135,7 +258,19 @@ static const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(input_voltage, "INPUT_VOLTS"),
GSCALAR(pack_capacity, "BATT_CAPACITY"),
GSCALAR(inverted_flight_ch, "INVERTEDFLT_CH"),
+
+ // @Param: SONAR_ENABLE
+ // @DisplayName: Enable Sonar
+ // @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
+ // @Values: 0:Disabled,1:Enabled
+ // @User: Standard
GSCALAR(sonar_enabled, "SONAR_ENABLE"),
+
+ // @Param: ARSPD_ENABLE
+ // @DisplayName: Enable Airspeed
+ // @Description: Setting this to Enabled(1) will enable the Airspeed sensor. Setting this to Disabled(0) will disable the Airspeed sensor
+ // @Values: 0:Disabled,1:Enabled
+ // @User: Standard
GSCALAR(airspeed_enabled, "ARSPD_ENABLE"),
GGROUP(channel_roll, "RC1_", RC_Channel),
@@ -156,10 +291,19 @@ static const AP_Param::Info var_info[] PROGMEM = {
GGROUP(pidNavPitchAltitude, "ALT2PTCH_", PID),
// variables not in the g class which contain EEPROM saved variables
+
+ // @Group: COMPASS_
+ // @Path: ../libraries/AP_Compass/Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
GOBJECT(gcs0, "SR0_", GCS_MAVLINK),
GOBJECT(gcs3, "SR3_", GCS_MAVLINK),
+
+ // @Group: IMU_
+ // @Path: ../libraries/AP_IMU/IMU.cpp
GOBJECT(imu, "IMU_", IMU),
+
+ // @Group: AHRS_
+ // @Path: ../libraries/AP_AHRS/AP_AHRS_DCM.cpp, ../libraries/AP_AHRS/AP_AHRS_Quaternion.cpp
GOBJECT(ahrs, "AHRS_", AP_AHRS)
};