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Lines changed: 432 additions & 432 deletions

‎AP_Periph-1.9/Parameters.html‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -39924,23 +39924,23 @@ <h2>Accel 3 scaling factor (SIM_ACC3_SCAL_Z)</h2><em>Note: This parameter is for
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</ul>
3992539925

3992639926

39927-
<h2>Accelerometer trim (SIM_ACC_TRIM_X)</h2><em>Note: This parameter is for advanced users</em><br>
39927+
<h2>Board mounting trim (SIM_BRD_TRIM_X)</h2><em>Note: This parameter is for advanced users</em><br>
3992839928

39929-
<p>Trim applied to simulated accelerometer (X-axis)</p>
39929+
<p>Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (X-axis)</p>
3993039930
<ul>
3993139931
</ul>
3993239932

3993339933

39934-
<h2>Accelerometer trim (SIM_ACC_TRIM_Y)</h2><em>Note: This parameter is for advanced users</em><br>
39934+
<h2>Board mounting trim (SIM_BRD_TRIM_Y)</h2><em>Note: This parameter is for advanced users</em><br>
3993539935

39936-
<p>Trim applied to simulated accelerometer (Y-axis)</p>
39936+
<p>Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (Y-axis)</p>
3993739937
<ul>
3993839938
</ul>
3993939939

3994039940

39941-
<h2>Accelerometer trim (SIM_ACC_TRIM_Z)</h2><em>Note: This parameter is for advanced users</em><br>
39941+
<h2>Board mounting trim (SIM_BRD_TRIM_Z)</h2><em>Note: This parameter is for advanced users</em><br>
3994239942

39943-
<p>Trim applied to simulated accelerometer (Z-axis)</p>
39943+
<p>Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (Z-axis)</p>
3994439944
<ul>
3994539945
</ul>
3994639946

‎AP_Periph-1.9/Parameters.md‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -39662,23 +39662,23 @@ scaling factors applied to simulated accelerometer (Y-axis)
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3966339663
scaling factors applied to simulated accelerometer (Z-axis)
3966439664

39665-
## SIM_ACC_TRIM_X: Accelerometer trim
39665+
## SIM_BRD_TRIM_X: Board mounting trim
3966639666

3966739667
*Note: This parameter is for advanced users*
3966839668

39669-
Trim applied to simulated accelerometer (X-axis)
39669+
Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (X-axis)
3967039670

39671-
## SIM_ACC_TRIM_Y: Accelerometer trim
39671+
## SIM_BRD_TRIM_Y: Board mounting trim
3967239672

3967339673
*Note: This parameter is for advanced users*
3967439674

39675-
Trim applied to simulated accelerometer (Y-axis)
39675+
Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (Y-axis)
3967639676

39677-
## SIM_ACC_TRIM_Z: Accelerometer trim
39677+
## SIM_BRD_TRIM_Z: Board mounting trim
3967839678

3967939679
*Note: This parameter is for advanced users*
3968039680

39681-
Trim applied to simulated accelerometer (Z-axis)
39681+
Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (Z-axis)
3968239682

3968339683
## SIM_JSON_MASTER: JSON master instance
3968439684

‎AP_Periph-1.9/Parameters.rst‎

Lines changed: 30 additions & 30 deletions
Original file line numberDiff line numberDiff line change
@@ -77480,36 +77480,6 @@ Read and write accelerometer data to\/from files
7748077480

7748177481

7748277482

77483-
.. _SIM_ACC_TRIM_X:
77484-
77485-
SIM\_ACC\_TRIM\_X: Accelerometer trim
77486-
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
77487-
77488-
| *Note: This parameter is for advanced users*
77489-
77490-
Trim applied to simulated accelerometer \(X\-axis\)
77491-
77492-
77493-
.. _SIM_ACC_TRIM_Y:
77494-
77495-
SIM\_ACC\_TRIM\_Y: Accelerometer trim
77496-
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
77497-
77498-
| *Note: This parameter is for advanced users*
77499-
77500-
Trim applied to simulated accelerometer \(Y\-axis\)
77501-
77502-
77503-
.. _SIM_ACC_TRIM_Z:
77504-
77505-
SIM\_ACC\_TRIM\_Z: Accelerometer trim
77506-
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
77507-
77508-
| *Note: This parameter is for advanced users*
77509-
77510-
Trim applied to simulated accelerometer \(Z\-axis\)
77511-
77512-
7751377483
.. _SIM_ADSB_ALT:
7751477484

7751577485
SIM\_ADSB\_ALT: ADSB altitude of another aircraft
@@ -78490,6 +78460,36 @@ SIM\_BAUDLIMIT\_EN: Telemetry bandwidth limitting
7849078460
SITL enable bandwidth limitting on telemetry ports with non\-zero values
7849178461

7849278462

78463+
.. _SIM_BRD_TRIM_X:
78464+
78465+
SIM\_BRD\_TRIM\_X: Board mounting trim
78466+
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
78467+
78468+
| *Note: This parameter is for advanced users*
78469+
78470+
Rigid board mounting offset \(roll\, pitch\, yaw in radians\) applied as a rotation to the simulated accelerometers\, gyros and compasses\, as a tilted autopilot mounting would be\. Intended to be cancelled by AHRS\_TRIM\. \(X\-axis\)
78471+
78472+
78473+
.. _SIM_BRD_TRIM_Y:
78474+
78475+
SIM\_BRD\_TRIM\_Y: Board mounting trim
78476+
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
78477+
78478+
| *Note: This parameter is for advanced users*
78479+
78480+
Rigid board mounting offset \(roll\, pitch\, yaw in radians\) applied as a rotation to the simulated accelerometers\, gyros and compasses\, as a tilted autopilot mounting would be\. Intended to be cancelled by AHRS\_TRIM\. \(Y\-axis\)
78481+
78482+
78483+
.. _SIM_BRD_TRIM_Z:
78484+
78485+
SIM\_BRD\_TRIM\_Z: Board mounting trim
78486+
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
78487+
78488+
| *Note: This parameter is for advanced users*
78489+
78490+
Rigid board mounting offset \(roll\, pitch\, yaw in radians\) applied as a rotation to the simulated accelerometers\, gyros and compasses\, as a tilted autopilot mounting would be\. Intended to be cancelled by AHRS\_TRIM\. \(Z\-axis\)
78491+
78492+
7849378493
.. _SIM_BZ_ENABLE:
7849478494

7849578495
SIM\_BZ\_ENABLE: Buzzer enable\/disable

‎AP_Periph-1.9/ParametersLatex.rst‎

Lines changed: 12 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -83911,34 +83911,34 @@ SIM\_ACC3\_SCAL\_Z: Accel 3 scaling factor
8391183911
scaling factors applied to simulated accelerometer \(Z\-axis\)
8391283912

8391383913

83914-
.. _SIM_ACC_TRIM_X:
83914+
.. _SIM_BRD_TRIM_X:
8391583915

83916-
SIM\_ACC\_TRIM\_X: Accelerometer trim
83917-
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
83916+
SIM\_BRD\_TRIM\_X: Board mounting trim
83917+
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
8391883918

8391983919
| *Note: This parameter is for advanced users*
8392083920

83921-
Trim applied to simulated accelerometer \(X\-axis\)
83921+
Rigid board mounting offset \(roll\, pitch\, yaw in radians\) applied as a rotation to the simulated accelerometers\, gyros and compasses\, as a tilted autopilot mounting would be\. Intended to be cancelled by AHRS\_TRIM\. \(X\-axis\)
8392283922

8392383923

83924-
.. _SIM_ACC_TRIM_Y:
83924+
.. _SIM_BRD_TRIM_Y:
8392583925

83926-
SIM\_ACC\_TRIM\_Y: Accelerometer trim
83927-
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
83926+
SIM\_BRD\_TRIM\_Y: Board mounting trim
83927+
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
8392883928

8392983929
| *Note: This parameter is for advanced users*
8393083930

83931-
Trim applied to simulated accelerometer \(Y\-axis\)
83931+
Rigid board mounting offset \(roll\, pitch\, yaw in radians\) applied as a rotation to the simulated accelerometers\, gyros and compasses\, as a tilted autopilot mounting would be\. Intended to be cancelled by AHRS\_TRIM\. \(Y\-axis\)
8393283932

8393383933

83934-
.. _SIM_ACC_TRIM_Z:
83934+
.. _SIM_BRD_TRIM_Z:
8393583935

83936-
SIM\_ACC\_TRIM\_Z: Accelerometer trim
83937-
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
83936+
SIM\_BRD\_TRIM\_Z: Board mounting trim
83937+
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
8393883938

8393983939
| *Note: This parameter is for advanced users*
8394083940

83941-
Trim applied to simulated accelerometer \(Z\-axis\)
83941+
Rigid board mounting offset \(roll\, pitch\, yaw in radians\) applied as a rotation to the simulated accelerometers\, gyros and compasses\, as a tilted autopilot mounting would be\. Intended to be cancelled by AHRS\_TRIM\. \(Z\-axis\)
8394283942

8394383943

8394483944
.. _SIM_JSON_MASTER:

‎AP_Periph-1.9/apm.pdef.json‎

Lines changed: 15 additions & 15 deletions
Original file line numberDiff line numberDiff line change
@@ -37462,21 +37462,6 @@
3746237462
"3": "Read data from file and stop on EOF"
3746337463
}
3746437464
},
37465-
"SIM_ACC_TRIM_X": {
37466-
"Description": "Trim applied to simulated accelerometer (X-axis)",
37467-
"DisplayName": "Accelerometer trim",
37468-
"User": "Advanced"
37469-
},
37470-
"SIM_ACC_TRIM_Y": {
37471-
"Description": "Trim applied to simulated accelerometer (Y-axis)",
37472-
"DisplayName": "Accelerometer trim",
37473-
"User": "Advanced"
37474-
},
37475-
"SIM_ACC_TRIM_Z": {
37476-
"Description": "Trim applied to simulated accelerometer (Z-axis)",
37477-
"DisplayName": "Accelerometer trim",
37478-
"User": "Advanced"
37479-
},
3748037465
"SIM_ADSB_ALT": {
3748137466
"Description": "Simulated ADSB altitude of another aircraft",
3748237467
"DisplayName": "ADSB altitude of another aircraft",
@@ -37532,6 +37517,21 @@
3753237517
"Description": "SITL enable bandwidth limitting on telemetry ports with non-zero values",
3753337518
"DisplayName": "Telemetry bandwidth limitting"
3753437519
},
37520+
"SIM_BRD_TRIM_X": {
37521+
"Description": "Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (X-axis)",
37522+
"DisplayName": "Board mounting trim",
37523+
"User": "Advanced"
37524+
},
37525+
"SIM_BRD_TRIM_Y": {
37526+
"Description": "Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (Y-axis)",
37527+
"DisplayName": "Board mounting trim",
37528+
"User": "Advanced"
37529+
},
37530+
"SIM_BRD_TRIM_Z": {
37531+
"Description": "Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (Z-axis)",
37532+
"DisplayName": "Board mounting trim",
37533+
"User": "Advanced"
37534+
},
3753537535
"SIM_CAN_SRV_MSK": {
3753637536
"Bitmask": {
3753737537
"0": "Servo 1",

‎AP_Periph-1.9/apm.pdef.xml‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -27660,11 +27660,11 @@
2766027660
</param>
2766127661
<param humanName="Accel 3 scaling factor" name="SIM_ACC3_SCAL_Z" documentation="scaling factors applied to simulated accelerometer (Z-axis)" user="Advanced">
2766227662
</param>
27663-
<param humanName="Accelerometer trim" name="SIM_ACC_TRIM_X" documentation="Trim applied to simulated accelerometer (X-axis)" user="Advanced">
27663+
<param humanName="Board mounting trim" name="SIM_BRD_TRIM_X" documentation="Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (X-axis)" user="Advanced">
2766427664
</param>
27665-
<param humanName="Accelerometer trim" name="SIM_ACC_TRIM_Y" documentation="Trim applied to simulated accelerometer (Y-axis)" user="Advanced">
27665+
<param humanName="Board mounting trim" name="SIM_BRD_TRIM_Y" documentation="Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (Y-axis)" user="Advanced">
2766627666
</param>
27667-
<param humanName="Accelerometer trim" name="SIM_ACC_TRIM_Z" documentation="Trim applied to simulated accelerometer (Z-axis)" user="Advanced">
27667+
<param humanName="Board mounting trim" name="SIM_BRD_TRIM_Z" documentation="Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (Z-axis)" user="Advanced">
2766827668
</param>
2766927669
<param humanName="JSON master instance" name="SIM_JSON_MASTER" documentation="the instance number to take servos from">
2767027670
</param>

‎Copter-4.8/Parameters.html‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -62072,23 +62072,23 @@ <h2>Accel 3 scaling factor (SIM_ACC3_SCAL_Z)</h2><em>Note: This parameter is for
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</ul>
6207362073

6207462074

62075-
<h2>Accelerometer trim (SIM_ACC_TRIM_X)</h2><em>Note: This parameter is for advanced users</em><br>
62075+
<h2>Board mounting trim (SIM_BRD_TRIM_X)</h2><em>Note: This parameter is for advanced users</em><br>
6207662076

62077-
<p>Trim applied to simulated accelerometer (X-axis)</p>
62077+
<p>Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (X-axis)</p>
6207862078
<ul>
6207962079
</ul>
6208062080

6208162081

62082-
<h2>Accelerometer trim (SIM_ACC_TRIM_Y)</h2><em>Note: This parameter is for advanced users</em><br>
62082+
<h2>Board mounting trim (SIM_BRD_TRIM_Y)</h2><em>Note: This parameter is for advanced users</em><br>
6208362083

62084-
<p>Trim applied to simulated accelerometer (Y-axis)</p>
62084+
<p>Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (Y-axis)</p>
6208562085
<ul>
6208662086
</ul>
6208762087

6208862088

62089-
<h2>Accelerometer trim (SIM_ACC_TRIM_Z)</h2><em>Note: This parameter is for advanced users</em><br>
62089+
<h2>Board mounting trim (SIM_BRD_TRIM_Z)</h2><em>Note: This parameter is for advanced users</em><br>
6209062090

62091-
<p>Trim applied to simulated accelerometer (Z-axis)</p>
62091+
<p>Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (Z-axis)</p>
6209262092
<ul>
6209362093
</ul>
6209462094

‎Copter-4.8/Parameters.md‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -51073,23 +51073,23 @@ scaling factors applied to simulated accelerometer (Y-axis)
5107351073

5107451074
scaling factors applied to simulated accelerometer (Z-axis)
5107551075

51076-
## SIM_ACC_TRIM_X: Accelerometer trim
51076+
## SIM_BRD_TRIM_X: Board mounting trim
5107751077

5107851078
*Note: This parameter is for advanced users*
5107951079

51080-
Trim applied to simulated accelerometer (X-axis)
51080+
Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (X-axis)
5108151081

51082-
## SIM_ACC_TRIM_Y: Accelerometer trim
51082+
## SIM_BRD_TRIM_Y: Board mounting trim
5108351083

5108451084
*Note: This parameter is for advanced users*
5108551085

51086-
Trim applied to simulated accelerometer (Y-axis)
51086+
Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (Y-axis)
5108751087

51088-
## SIM_ACC_TRIM_Z: Accelerometer trim
51088+
## SIM_BRD_TRIM_Z: Board mounting trim
5108951089

5109051090
*Note: This parameter is for advanced users*
5109151091

51092-
Trim applied to simulated accelerometer (Z-axis)
51092+
Rigid board mounting offset (roll, pitch, yaw in radians) applied as a rotation to the simulated accelerometers, gyros and compasses, as a tilted autopilot mounting would be. Intended to be cancelled by AHRS_TRIM. (Z-axis)
5109351093

5109451094
## SIM_JSON_MASTER: JSON master instance
5109551095

‎Copter-4.8/Parameters.rst‎

Lines changed: 30 additions & 30 deletions
Original file line numberDiff line numberDiff line change
@@ -125607,36 +125607,6 @@ Read and write accelerometer data to\/from files
125607125607

125608125608

125609125609

125610-
.. _SIM_ACC_TRIM_X:
125611-
125612-
SIM\_ACC\_TRIM\_X: Accelerometer trim
125613-
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
125614-
125615-
| *Note: This parameter is for advanced users*
125616-
125617-
Trim applied to simulated accelerometer \(X\-axis\)
125618-
125619-
125620-
.. _SIM_ACC_TRIM_Y:
125621-
125622-
SIM\_ACC\_TRIM\_Y: Accelerometer trim
125623-
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
125624-
125625-
| *Note: This parameter is for advanced users*
125626-
125627-
Trim applied to simulated accelerometer \(Y\-axis\)
125628-
125629-
125630-
.. _SIM_ACC_TRIM_Z:
125631-
125632-
SIM\_ACC\_TRIM\_Z: Accelerometer trim
125633-
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
125634-
125635-
| *Note: This parameter is for advanced users*
125636-
125637-
Trim applied to simulated accelerometer \(Z\-axis\)
125638-
125639-
125640125610
.. _SIM_ADSB_ALT:
125641125611

125642125612
SIM\_ADSB\_ALT: ADSB altitude of another aircraft
@@ -126617,6 +126587,36 @@ SIM\_BAUDLIMIT\_EN: Telemetry bandwidth limitting
126617126587
SITL enable bandwidth limitting on telemetry ports with non\-zero values
126618126588

126619126589

126590+
.. _SIM_BRD_TRIM_X:
126591+
126592+
SIM\_BRD\_TRIM\_X: Board mounting trim
126593+
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
126594+
126595+
| *Note: This parameter is for advanced users*
126596+
126597+
Rigid board mounting offset \(roll\, pitch\, yaw in radians\) applied as a rotation to the simulated accelerometers\, gyros and compasses\, as a tilted autopilot mounting would be\. Intended to be cancelled by AHRS\_TRIM\. \(X\-axis\)
126598+
126599+
126600+
.. _SIM_BRD_TRIM_Y:
126601+
126602+
SIM\_BRD\_TRIM\_Y: Board mounting trim
126603+
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
126604+
126605+
| *Note: This parameter is for advanced users*
126606+
126607+
Rigid board mounting offset \(roll\, pitch\, yaw in radians\) applied as a rotation to the simulated accelerometers\, gyros and compasses\, as a tilted autopilot mounting would be\. Intended to be cancelled by AHRS\_TRIM\. \(Y\-axis\)
126608+
126609+
126610+
.. _SIM_BRD_TRIM_Z:
126611+
126612+
SIM\_BRD\_TRIM\_Z: Board mounting trim
126613+
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
126614+
126615+
| *Note: This parameter is for advanced users*
126616+
126617+
Rigid board mounting offset \(roll\, pitch\, yaw in radians\) applied as a rotation to the simulated accelerometers\, gyros and compasses\, as a tilted autopilot mounting would be\. Intended to be cancelled by AHRS\_TRIM\. \(Z\-axis\)
126618+
126619+
126620126620
.. _SIM_BZ_ENABLE:
126621126621

126622126622
SIM\_BZ\_ENABLE: Buzzer enable\/disable

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