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JMoore5353JMoore5353
authored
feat: rename firmware parameters for consistency (#483)
BREAKING CHANGE: rename firmware parameters
1 parent 7732bb0 commit 535be09

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6 files changed

+66
-70
lines changed

6 files changed

+66
-70
lines changed

‎include/param.h‎

Lines changed: 7 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -65,11 +65,11 @@ enum : uint16_t
6565
PARAM_NUM_MOTORS,
6666
PARAM_MOTOR_RESISTANCE,
6767
PARAM_MOTOR_KV,
68-
PARAM_NO_LOAD_CURRENT,
68+
PARAM_MOTOR_NO_LOAD_CURRENT,
6969
PARAM_PROP_DIAMETER,
7070
PARAM_PROP_CT,
7171
PARAM_PROP_CQ,
72-
PARAM_VOLT_MAX,
72+
PARAM_BATT_VOLT_MAX,
7373
PARAM_USE_MOTOR_PARAMETERS,
7474

7575
PARAM_PRIMARY_MIXER_OUTPUT_0,
@@ -351,7 +351,6 @@ enum : uint16_t
351351
/*************************/
352352
/*** PWM CONFIGURATION ***/
353353
/*************************/
354-
PARAM_MOTOR_PWM_SEND_RATE,
355354
PARAM_MOTOR_IDLE_THROTTLE,
356355
PARAM_FAILSAFE_THROTTLE,
357356
PARAM_SPIN_MOTORS_WHEN_ARMED,
@@ -385,15 +384,15 @@ enum : uint16_t
385384
PARAM_ACC_Y_TEMP_COMP,
386385
PARAM_ACC_Z_TEMP_COMP,
387386

387+
PARAM_MAG_A00_COMP,
388+
PARAM_MAG_A01_COMP,
389+
PARAM_MAG_A02_COMP,
390+
PARAM_MAG_A10_COMP,
388391
PARAM_MAG_A11_COMP,
389392
PARAM_MAG_A12_COMP,
390-
PARAM_MAG_A13_COMP,
393+
PARAM_MAG_A20_COMP,
391394
PARAM_MAG_A21_COMP,
392395
PARAM_MAG_A22_COMP,
393-
PARAM_MAG_A23_COMP,
394-
PARAM_MAG_A31_COMP,
395-
PARAM_MAG_A32_COMP,
396-
PARAM_MAG_A33_COMP,
397396
PARAM_MAG_X_BIAS,
398397
PARAM_MAG_Y_BIAS,
399398
PARAM_MAG_Z_BIAS,

‎src/controller.cpp‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -83,14 +83,14 @@ void Controller::calculate_max_thrust()
8383
float CQ = RF_.params_.get_param_float(PARAM_PROP_CQ);
8484
float CT = RF_.params_.get_param_float(PARAM_PROP_CT);
8585
float KV = RF_.params_.get_param_float(PARAM_MOTOR_KV);
86-
float i0 = RF_.params_.get_param_float(PARAM_NO_LOAD_CURRENT);
86+
float i0 = RF_.params_.get_param_float(PARAM_MOTOR_NO_LOAD_CURRENT);
8787
float KQ = KV;
8888
int num_motors = RF_.params_.get_param_int(PARAM_NUM_MOTORS);
8989

9090
// Note: As voltage drops during flight, this max voltage stays constant.
9191
// This means that a constant throttle setting will result in a constant
9292
// output thrust command (if converting from throttle to thrust).
93-
float V_max = RF_.params_.get_param_float(PARAM_VOLT_MAX);
93+
float V_max = RF_.params_.get_param_float(PARAM_BATT_VOLT_MAX);
9494
float a = R * rho * pow(D, 5.0) * CQ / (4 * pow(M_PI, 2.0) * KQ);
9595
float b = KV;
9696
float c = i0 * R - V_max;
@@ -207,8 +207,8 @@ void Controller::param_change_callback(uint16_t param_id)
207207
case PARAM_PROP_DIAMETER:
208208
case PARAM_PROP_CT:
209209
case PARAM_MOTOR_KV:
210-
case PARAM_NO_LOAD_CURRENT:
211-
case PARAM_VOLT_MAX:
210+
case PARAM_MOTOR_NO_LOAD_CURRENT:
211+
case PARAM_BATT_VOLT_MAX:
212212
case PARAM_NUM_MOTORS:
213213
case PARAM_RC_MAX_THROTTLE:
214214
case PARAM_PID_TAU:

‎src/mixer.cpp‎

Lines changed: 2 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -102,12 +102,11 @@ void Mixer::param_change_callback(uint16_t param_id)
102102
break;
103103
case PARAM_MOTOR_RESISTANCE: R_ = RF_.params_.get_param_float(PARAM_MOTOR_RESISTANCE); break;
104104
case PARAM_MOTOR_KV: K_V_ = RF_.params_.get_param_float(PARAM_MOTOR_KV); K_Q_ = K_V_; break;
105-
case PARAM_NO_LOAD_CURRENT: i_0_ = RF_.params_.get_param_float(PARAM_NO_LOAD_CURRENT); break;
105+
case PARAM_MOTOR_NO_LOAD_CURRENT: i_0_ = RF_.params_.get_param_float(PARAM_MOTOR_NO_LOAD_CURRENT); break;
106106
case PARAM_PROP_DIAMETER: D_ = RF_.params_.get_param_float(PARAM_PROP_DIAMETER); break;
107107
case PARAM_PROP_CT: C_T_ = RF_.params_.get_param_float(PARAM_PROP_CT); break;
108108
case PARAM_PROP_CQ: C_Q_ = RF_.params_.get_param_float(PARAM_PROP_CQ); break;
109109
case PARAM_NUM_MOTORS: num_motors_ = RF_.params_.get_param_int(PARAM_NUM_MOTORS); break;
110-
case PARAM_MOTOR_PWM_SEND_RATE:
111110
init_PWM();
112111
break;
113112
default:
@@ -242,7 +241,7 @@ void Mixer::update_parameters()
242241
R_ = RF_.params_.get_param_float(PARAM_MOTOR_RESISTANCE);
243242
K_V_ = RF_.params_.get_param_float(PARAM_MOTOR_KV);
244243
K_Q_ = K_V_;
245-
i_0_ = RF_.params_.get_param_float(PARAM_NO_LOAD_CURRENT);
244+
i_0_ = RF_.params_.get_param_float(PARAM_MOTOR_NO_LOAD_CURRENT);
246245
D_ = RF_.params_.get_param_float(PARAM_PROP_DIAMETER);
247246
C_T_ = RF_.params_.get_param_float(PARAM_PROP_CT);
248247
C_Q_ = RF_.params_.get_param_float(PARAM_PROP_CQ);

‎src/param.cpp‎

Lines changed: 42 additions & 43 deletions
Original file line numberDiff line numberDiff line change
@@ -111,23 +111,23 @@ void Params::set_defaults(void)
111111
init_param_int(PARAM_NUM_MOTORS, "NUM_MOTORS", 4); // Number of vertical-facing motors on the vehicle | 1 | 8
112112
init_param_float(PARAM_MOTOR_RESISTANCE, "MOTOR_RESISTANCE", 0.042f); // Electrical resistance of the motor windings (ohms) | 0 | 1000.0
113113
init_param_float(PARAM_MOTOR_KV, "MOTOR_KV", 0.01706f); // Back emf constant of the motor in SI units (V/rad/s) | 0 | 1000.0
114-
init_param_float(PARAM_NO_LOAD_CURRENT, "NO_LOAD_CURRENT", 1.5); // No-load current of the motor in amps | 0 | 1000.0
114+
init_param_float(PARAM_MOTOR_NO_LOAD_CURRENT, "NO_LOAD_CURRENT", 1.5); // No-load current of the motor in amps | 0 | 1000.0
115115
init_param_float(PARAM_PROP_DIAMETER, "PROP_DIAMETER", 0.381f); // Diameter of the propeller in meters | 0 | 1.0
116116
init_param_float(PARAM_PROP_CT, "PROP_CT", 0.075f); // Thrust coefficient of the propeller | 0 | 100.0
117117
init_param_float(PARAM_PROP_CQ, "PROP_CQ", 0.0045f); // Torque coefficient of the propeller | 0 | 100.0
118-
init_param_float(PARAM_VOLT_MAX, "VOLT_MAX", 25.0f); // Maximum voltage of the battery (V) | 0 | 100.0
118+
init_param_float(PARAM_BATT_VOLT_MAX, "BATT_VOLT_MAX", 25.0f); // Maximum voltage of the battery (V) | 0 | 100.0
119119
init_param_int(PARAM_USE_MOTOR_PARAMETERS, "USE_MOTOR_PARAM", false); // Flag to use motor parameters in the mixer | 0 | 1
120120

121-
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_0, "PRI_MIXER_OUT_0", 0); // Output type of mixer output 0. | 0 | 1 | 2 | 3
122-
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_1, "PRI_MIXER_OUT_1", 0); // Output type of mixer output 1. | 0 | 1 | 2 | 3
123-
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_2, "PRI_MIXER_OUT_2", 0); // Output type of mixer output 2. | 0 | 1 | 2 | 3
124-
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_3, "PRI_MIXER_OUT_3", 0); // Output type of mixer output 3. | 0 | 1 | 2 | 3
125-
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_4, "PRI_MIXER_OUT_4", 0); // Output type of mixer output 4. | 0 | 1 | 2 | 3
126-
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_5, "PRI_MIXER_OUT_5", 0); // Output type of mixer output 5. | 0 | 1 | 2 | 3
127-
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_6, "PRI_MIXER_OUT_6", 0); // Output type of mixer output 6. | 0 | 1 | 2 | 3
128-
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_7, "PRI_MIXER_OUT_7", 0); // Output type of mixer output 7. | 0 | 1 | 2 | 3
129-
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_8, "PRI_MIXER_OUT_8", 0); // Output type of mixer output 8. | 0 | 1 | 2 | 3
130-
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_9, "PRI_MIXER_OUT_9", 0); // Output type of mixer output 9. | 0 | 1 | 2 | 3
121+
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_0, "PRI_MIXER_OUT_0", 0); // Output type of mixer output 0. | 0 | 3
122+
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_1, "PRI_MIXER_OUT_1", 0); // Output type of mixer output 1. | 0 | 3
123+
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_2, "PRI_MIXER_OUT_2", 0); // Output type of mixer output 2. | 0 | 3
124+
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_3, "PRI_MIXER_OUT_3", 0); // Output type of mixer output 3. | 0 | 3
125+
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_4, "PRI_MIXER_OUT_4", 0); // Output type of mixer output 4. | 0 | 3
126+
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_5, "PRI_MIXER_OUT_5", 0); // Output type of mixer output 5. | 0 | 3
127+
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_6, "PRI_MIXER_OUT_6", 0); // Output type of mixer output 6. | 0 | 3
128+
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_7, "PRI_MIXER_OUT_7", 0); // Output type of mixer output 7. | 0 | 3
129+
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_8, "PRI_MIXER_OUT_8", 0); // Output type of mixer output 8. | 0 | 3
130+
init_param_int(PARAM_PRIMARY_MIXER_OUTPUT_9, "PRI_MIXER_OUT_9", 0); // Output type of mixer output 9. | 0 | 3
131131

132132
init_param_float(PARAM_PRIMARY_MIXER_PWM_RATE_0, "PRI_MIXER_PWM_0", 0); // PWM frequenct output for mixer output 0 | 0 | 490
133133
init_param_float(PARAM_PRIMARY_MIXER_PWM_RATE_1, "PRI_MIXER_PWM_1", 0); // PWM frequenct output for mixer output 1 | 0 | 490
@@ -398,29 +398,28 @@ void Params::set_defaults(void)
398398
/*************************/
399399
/*** PWM CONFIGURATION ***/
400400
/*************************/
401-
init_param_int(PARAM_MOTOR_PWM_SEND_RATE, "MOTOR_PWM_UPDATE", 0); // Overrides default PWM rate specified by mixer if non-zero - Requires reboot to take effect | 0 | 490
402401
init_param_float(PARAM_MOTOR_IDLE_THROTTLE, "MOTOR_IDLE_THR", 0.1); // min throttle command sent to motors when armed (Set above 0.1 to spin when armed) | 0.0 | 1.0
403402
init_param_float(PARAM_FAILSAFE_THROTTLE, "FAILSAFE_THR", -1.0); // Throttle sent to motors in failsafe condition (set just below hover throttle) | 0.0 | 1.0
404403
init_param_int(PARAM_SPIN_MOTORS_WHEN_ARMED, "ARM_SPIN_MOTORS", true); // Enforce MOTOR_IDLE_THR | 0 | 1
405404

406405
/*******************************/
407406
/*** ESTIMATOR CONFIGURATION ***/
408407
/*******************************/
409-
init_param_int(PARAM_INIT_TIME, "FILTER_INIT_T", 3000); // Time in ms to initialize estimator | 0 | 100000
410-
init_param_float(PARAM_FILTER_KP_ACC, "FILTER_KP_ACC", 0.5f); // estimator proportional gain on accel-based error - See estimator documentation | 0 | 10.0
411-
init_param_float(PARAM_FILTER_KI, "FILTER_KI", 0.01f); // estimator integral gain - See estimator documentation | 0 | 1.0
412-
init_param_float(PARAM_FILTER_KP_EXT, "FILTER_KP_EXT", 1.5f); // estimator proportional gain on external attitude-based error - See estimator documentation | 0 | 10.0
413-
init_param_float(PARAM_FILTER_ACCEL_MARGIN, "FILTER_ACCMARGIN", 0.1f); // allowable accel norm margin around 1g to determine if accel is usable | 0 | 1.0
408+
init_param_int(PARAM_INIT_TIME, "FILT_INIT_T", 3000); // Time in ms to initialize estimator | 0 | 100000
409+
init_param_float(PARAM_FILTER_KP_ACC, "FILT_ACC_KP", 0.5f); // estimator proportional gain on accel-based error - See estimator documentation | 0 | 10.0
410+
init_param_float(PARAM_FILTER_KI, "FILT_KI", 0.01f); // estimator integral gain - See estimator documentation | 0 | 1.0
411+
init_param_float(PARAM_FILTER_KP_EXT, "FILT_EXT_KP", 1.5f); // estimator proportional gain on external attitude-based error - See estimator documentation | 0 | 10.0
412+
init_param_float(PARAM_FILTER_ACCEL_MARGIN, "FILT_ACC_MARGIN", 0.1f); // allowable accel norm margin around 1g to determine if accel is usable | 0 | 1.0
414413

415-
init_param_int(PARAM_FILTER_USE_QUAD_INT, "FILTER_QUAD_INT", 1); // Perform a quadratic averaging of LPF gyro data prior to integration (adds ~20 us to estimation loop on F1 processors) | 0 | 1
416-
init_param_int(PARAM_FILTER_USE_MAT_EXP, "FILTER_MAT_EXP", 1); // 1 - Use matrix exponential to improve gyro integration (adds ~90 us to estimation loop in F1 processors) 0 - use euler integration | 0 | 1
417-
init_param_int(PARAM_FILTER_USE_ACC, "FILTER_USE_ACC", 1); // Use accelerometer to correct gyro integration drift (adds ~70 us to estimation loop) | 0 | 1
414+
init_param_int(PARAM_FILTER_USE_QUAD_INT, "FILT_QUAD_INT", 1); // Perform a quadratic averaging of LPF gyro data prior to integration (adds ~20 us to estimation loop on F1 processors) | 0 | 1
415+
init_param_int(PARAM_FILTER_USE_MAT_EXP, "FILT_MAT_EXP", 1); // 1 - Use matrix exponential to improve gyro integration (adds ~90 us to estimation loop in F1 processors) 0 - use euler integration | 0 | 1
416+
init_param_int(PARAM_FILTER_USE_ACC, "FILT_USE_ACC", 1); // Use accelerometer to correct gyro integration drift (adds ~70 us to estimation loop) | 0 | 1
418417

419-
init_param_int(PARAM_CALIBRATE_GYRO_ON_ARM, "CAL_GYRO_ARM", false); // True if desired to calibrate gyros on arm | 0 | 1
418+
init_param_int(PARAM_CALIBRATE_GYRO_ON_ARM, "ARM_CAL_GYRO", false); // True if desired to calibrate gyros on arm | 0 | 1
420419

421-
init_param_float(PARAM_GYRO_XY_ALPHA, "GYROXY_LPF_ALPHA", 0.3f); // Low-pass filter constant on gyro X and Y axes - See estimator documentation | 0 | 1.0
422-
init_param_float(PARAM_GYRO_Z_ALPHA, "GYROZ_LPF_ALPHA", 0.3f); // Low-pass filter constant on gyro Z axis - See estimator documentation | 0 | 1.0
423-
init_param_float(PARAM_ACC_ALPHA, "ACC_LPF_ALPHA", 0.5f); // Low-pass filter constant on all accel axes - See estimator documentation | 0 | 1.0
420+
init_param_float(PARAM_GYRO_XY_ALPHA, "GYRO_XY_LPF", 0.3f); // Low-pass filter constant on gyro X and Y axes - See estimator documentation | 0 | 1.0
421+
init_param_float(PARAM_GYRO_Z_ALPHA, "GYRO_Z_LPF", 0.3f); // Low-pass filter constant on gyro Z axis - See estimator documentation | 0 | 1.0
422+
init_param_float(PARAM_ACC_ALPHA, "ACC_LPF", 0.5f); // Low-pass filter constant on all accel axes - See estimator documentation | 0 | 1.0
424423

425424
init_param_float(PARAM_GYRO_X_BIAS, "GYRO_X_BIAS", 0.0f); // Constant x-bias of gyroscope readings | -1.0 | 1.0
426425
init_param_float(PARAM_GYRO_Y_BIAS, "GYRO_Y_BIAS", 0.0f); // Constant y-bias of gyroscope readings | -1.0 | 1.0
@@ -432,15 +431,15 @@ void Params::set_defaults(void)
432431
init_param_float(PARAM_ACC_Y_TEMP_COMP, "ACC_Y_TEMP_COMP", 0.0f); // Linear y-axis temperature compensation constant | -2.0 | 2.0
433432
init_param_float(PARAM_ACC_Z_TEMP_COMP, "ACC_Z_TEMP_COMP", 0.0f); // Linear z-axis temperature compensation constant | -2.0 | 2.0
434433

435-
init_param_float(PARAM_MAG_A11_COMP, "MAG_A11_COMP", 1.0f); // Soft iron compensation constant | -999.0 | 999.0
436-
init_param_float(PARAM_MAG_A12_COMP, "MAG_A12_COMP", 0.0f); // Soft iron compensation constant | -999.0 | 999.0
437-
init_param_float(PARAM_MAG_A13_COMP, "MAG_A13_COMP", 0.0f); // Soft iron compensation constant | -999.0 | 999.0
438-
init_param_float(PARAM_MAG_A21_COMP, "MAG_A21_COMP", 0.0f); // Soft iron compensation constant | -999.0 | 999.0
439-
init_param_float(PARAM_MAG_A22_COMP, "MAG_A22_COMP", 1.0f); // Soft iron compensation constant | -999.0 | 999.0
440-
init_param_float(PARAM_MAG_A23_COMP, "MAG_A23_COMP", 0.0f); // Soft iron compensation constant | -999.0 | 999.0
441-
init_param_float(PARAM_MAG_A31_COMP, "MAG_A31_COMP", 0.0f); // Soft iron compensation constant | -999.0 | 999.0
442-
init_param_float(PARAM_MAG_A32_COMP, "MAG_A32_COMP", 0.0f); // Soft iron compensation constant | -999.0 | 999.0
443-
init_param_float(PARAM_MAG_A33_COMP, "MAG_A33_COMP", 1.0f); // Soft iron compensation constant | -999.0 | 999.0
434+
init_param_float(PARAM_MAG_A00_COMP, "MAG_CAL_A00", 1.0f); // Soft iron compensation constant | -999.0 | 999.0
435+
init_param_float(PARAM_MAG_A01_COMP, "MAG_CAL_A01", 0.0f); // Soft iron compensation constant | -999.0 | 999.0
436+
init_param_float(PARAM_MAG_A02_COMP, "MAG_CAL_A02", 0.0f); // Soft iron compensation constant | -999.0 | 999.0
437+
init_param_float(PARAM_MAG_A10_COMP, "MAG_CAL_A10", 0.0f); // Soft iron compensation constant | -999.0 | 999.0
438+
init_param_float(PARAM_MAG_A11_COMP, "MAG_CAL_A11", 1.0f); // Soft iron compensation constant | -999.0 | 999.0
439+
init_param_float(PARAM_MAG_A12_COMP, "MAG_CAL_A12", 0.0f); // Soft iron compensation constant | -999.0 | 999.0
440+
init_param_float(PARAM_MAG_A20_COMP, "MAG_CAL_A20", 0.0f); // Soft iron compensation constant | -999.0 | 999.0
441+
init_param_float(PARAM_MAG_A21_COMP, "MAG_CAL_A21", 0.0f); // Soft iron compensation constant | -999.0 | 999.0
442+
init_param_float(PARAM_MAG_A22_COMP, "MAG_CAL_A22", 1.0f); // Soft iron compensation constant | -999.0 | 999.0
444443
init_param_float(PARAM_MAG_X_BIAS, "MAG_X_BIAS", 0.0f); // Hard iron compensation constant | -999.0 | 999.0
445444
init_param_float(PARAM_MAG_Y_BIAS, "MAG_Y_BIAS", 0.0f); // Hard iron compensation constant | -999.0 | 999.0
446445
init_param_float(PARAM_MAG_Z_BIAS, "MAG_Z_BIAS", 0.0f); // Hard iron compensation constant | -999.0 | 999.0
@@ -462,7 +461,7 @@ void Params::set_defaults(void)
462461
init_param_int(PARAM_RC_ATTITUDE_OVERRIDE_CHANNEL, "RC_ATT_OVRD_CHN", 4); // RC switch mapped to attitude override [0 indexed, -1 to disable] | 4 | 7
463462
init_param_int(PARAM_RC_THROTTLE_OVERRIDE_CHANNEL, "RC_THR_OVRD_CHN", 4); // RC switch channel mapped to throttle override [0 indexed, -1 to disable] | 4 | 7
464463
init_param_int(PARAM_RC_ATT_CONTROL_TYPE_CHANNEL, "RC_ATT_CTRL_CHN",-1); // RC switch channel mapped to attitude control type [0 indexed, -1 to disable] | 4 | 7
465-
init_param_int(PARAM_RC_ARM_CHANNEL, "ARM_CHANNEL",-1); // RC switch channel mapped to arming (only if PARAM_ARM_STICKS is false) [0 indexed, -1 to disable] | 4 | 7
464+
init_param_int(PARAM_RC_ARM_CHANNEL, "ARM_CHN",-1); // RC switch channel mapped to arming (only if PARAM_ARM_STICKS is false) [0 indexed, -1 to disable] | 4 | 7
466465
init_param_int(PARAM_RC_NUM_CHANNELS, "RC_NUM_CHN", 6); // number of RC input channels | 1 | 8
467466

468467
init_param_int(PARAM_RC_SWITCH_5_DIRECTION, "SWITCH_5_DIR", 1); // RC switch 5 toggle direction | -1 | 1
@@ -471,8 +470,8 @@ void Params::set_defaults(void)
471470
init_param_int(PARAM_RC_SWITCH_8_DIRECTION, "SWITCH_8_DIR", 1); // RC switch 8 toggle direction | -1 | 1
472471

473472
init_param_float(PARAM_RC_OVERRIDE_DEVIATION, "RC_OVRD_DEV", 0.1); // RC stick deviation from center for override | 0.0 | 1.0
474-
init_param_int(PARAM_OVERRIDE_LAG_TIME, "OVRD_LAG_TIME", 1000); // RC stick deviation lag time before returning control (ms) | 0 | 100000
475-
init_param_int(PARAM_RC_OVERRIDE_TAKE_MIN_THROTTLE, "MIN_THROTTLE", true); // Take minimum throttle between RC and computer at all times | 0 | 1
473+
init_param_int(PARAM_OVERRIDE_LAG_TIME, "RC_OVRD_LAG_T", 1000); // RC stick deviation lag time before returning control (ms) | 0 | 100000
474+
init_param_int(PARAM_RC_OVERRIDE_TAKE_MIN_THROTTLE, "TAKE_MIN_THR", true); // Take minimum throttle between RC and computer at all times | 0 | 1
476475
init_param_float(PARAM_RC_MAX_THROTTLE, "RC_MAX_THR", 0.7f); // Maximum throttle command sent by full deflection of RC sticks, to maintain controllability during aggressive maneuvers | 0.0 | 1.0
477476

478477
init_param_int(PARAM_RC_ATTITUDE_MODE, "RC_ATT_MODE", 1); // Attitude mode for RC sticks (0: rate, 1: angle). Overridden if RC_ATT_CTRL_CHN is set. | 0 | 1
@@ -489,9 +488,9 @@ void Params::set_defaults(void)
489488
init_param_int(PARAM_SECONDARY_MIXER, "SECONDARY_MIXER", Mixer::INVALID_MIXER); // Which mixer to choose for secondary mixer - See Mixer documentation | 0 | 11
490489

491490
init_param_int(PARAM_FIXED_WING, "FIXED_WING", false); // switches on pass-through commands for fixed-wing operation | 0 | 1
492-
init_param_int(PARAM_ELEVATOR_REVERSE, "ELEVATOR_REV", 0); // reverses elevator servo output | 0 | 1
493-
init_param_int(PARAM_AILERON_REVERSE, "AIL_REV", 0); // reverses aileron servo output | 0 | 1
494-
init_param_int(PARAM_RUDDER_REVERSE, "RUDDER_REV", 0); // reverses rudder servo output | 0 | 1
491+
init_param_int(PARAM_ELEVATOR_REVERSE, "REV_ELEVATOR", 0); // reverses elevator servo output | 0 | 1
492+
init_param_int(PARAM_AILERON_REVERSE, "REV_AILERON", 0); // reverses aileron servo output | 0 | 1
493+
init_param_int(PARAM_RUDDER_REVERSE, "REV_RUDDER", 0); // reverses rudder servo output | 0 | 1
495494

496495
init_param_float(PARAM_IMU_ROLL, "IMU_ROLL", 0.0f); // roll angle (deg) of IMU wrt aircraft body | 0 | 360
497496
init_param_float(PARAM_IMU_PITCH, "IMU_PITCH", 0.0f); // pitch angle (deg) of IMU wrt aircraft body | 0 | 360
@@ -504,15 +503,15 @@ void Params::set_defaults(void)
504503
/********************/
505504
/*** ARMING SETUP ***/
506505
/********************/
507-
init_param_float(PARAM_ARM_THRESHOLD, "ARM_THRESHOLD", 0.15); // RC deviation from max/min in yaw and throttle for arming and disarming check (us) | 0 | 500
506+
init_param_float(PARAM_ARM_THRESHOLD, "RC_ARM_THRESHOLD", 0.15); // RC deviation from max/min in yaw and throttle for arming and disarming check (us) | 0 | 500
508507

509508
/*****************************/
510509
/*** BATTERY MONITOR SETUP ***/
511510
/*****************************/
512511
init_param_float(PARAM_BATTERY_VOLTAGE_MULTIPLIER, "BATT_VOLT_MULT", 1.0f); // Multiplier for the voltage sensor | 0 | inf
513512
init_param_float(PARAM_BATTERY_CURRENT_MULTIPLIER, "BATT_CURR_MULT", 1.0f); // Multiplier for the current sensor | 0 | inf
514-
init_param_float(PARAM_BATTERY_VOLTAGE_ALPHA, "BATT_VOLT_ALPHA", 0.995f); // Alpha value for the low pass filter on the reported battery voltage | 0 | 1
515-
init_param_float(PARAM_BATTERY_CURRENT_ALPHA, "BATT_CURR_ALPHA", 0.995f); // Alpha value for the low pass filter on the reported battery current | 0 | 1
513+
init_param_float(PARAM_BATTERY_VOLTAGE_ALPHA, "BATT_VOLT_LPF", 0.995f); // Alpha value for the low pass filter on the reported battery voltage | 0 | 1
514+
init_param_float(PARAM_BATTERY_CURRENT_ALPHA, "BATT_CURR_LPF", 0.995f); // Alpha value for the low pass filter on the reported battery current | 0 | 1
516515

517516
/************************/
518517
/*** OFFBOARD CONTROL ***/

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