Make a cleaner explanation

Tools/module_config/generate_params.py

@@ -282,34 +282,12 @@ def add_local_param(param_name, param_def):
 
 Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.
 '''
-        if param_prefix == 'SIM_GZ_SV':
-            minimum_description = \
-    '''
-    Servo output represents angles [0, 360] deg scaled with 10 for numerical precision,
-    with an offset of -180 deg to allow for negative angles.
-    Hence, myMin = (180 + myOffset) * 10 resulting angles within [-180,180] deg.
-
-    Min max must be coherent with joint limits in the airframe/model.sdf
-
-    Ex. ailerons with a minimum angle -45 deg would be 1350.
-    '''
-            maximum_description = \
-    '''
-    Servo output represents angles [0, 360] deg scaled with 10 for numerical precision,
-    with an offset of -180 deg to allow for negative angles.
-    Hence, myMin = (180 + myOffset) * 10 resulting angles within [-180,180] deg.
-
-    Min max must be coherent with joint limits in the airframe/model.sdf
-
-    Ex. ailerons with a maximum angle 45 deg would be 2250.
-    '''
-        else:
-            minimum_description = \
-    '''Minimum output value (when not disarmed).
-    '''
-            maximum_description = \
-    '''Maxmimum output value (when not disarmed).
-    '''
+        minimum_description = \
+'''Minimum output value (when not disarmed).
+'''
+        maximum_description = \
+'''Maxmimum output value (when not disarmed).
+'''
         failsafe_description = \
 '''This is the output value that is set when in failsafe mode.
 

src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp

@@ -33,8 +33,6 @@
 
 #include "GZMixingInterfaceServo.hpp"
 
-#define SERVO_OUTPUT_SCALING (10.)
-#define SERVO_OUTPUT_OFFSET (180.)
 
 bool GZMixingInterfaceServo::init(const std::string &model_name)
 {
@@ -56,6 +54,22 @@ bool GZMixingInterfaceServo::init(const std::string &model_name)
 	return true;
 }
 
+/**
+ *@brief Servo output are mapped from ms into deg.
+ * The outputs are uint16 and to allow for decimals the
+ * range is scaled by SERVO_OUTPUT_SCALING * [0, 360] deg.
+ * With an offset SERVO_OUTPUT_OFFSET the outputs can be mapped into negative angles.
+ *
+ * Hence,
+ * 	SIM_GZ_SV_MIN{n} = (SERVO_OUTPUT_OFFSET + myAngularOffsetDeg) * SERVO_OUTPUT_SCALING
+ * results with angles within [-180,180] deg.
+ *
+ * Ex. ailerons with a myAngularOffsetDeg of +-45 deg would be
+ * SIM_GZ_SV_MIN{n} = 1350 and SIM_GZ_SV_MAX{n} = 2250.
+ *
+ * Note: SIM_GZ_SV_MIN{n} and SIM_GZ_SV_MAX{n} must be coherent with
+ * joint limits in the airframe/model.sdf
+ */
 bool GZMixingInterfaceServo::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
 		unsigned num_control_groups_updated)
 {

src/modules/simulation/gz_bridge/GZMixingInterfaceServo.hpp

@@ -67,6 +67,11 @@ class GZMixingInterfaceServo : public OutputModuleInterface
 
 	void Run() override;
 
+	// Scales the servo outputs into the range 360 deg
+	static constexpr double SERVO_OUTPUT_SCALING = 10.;
+	// Offsets the servo value in degrees into a range of +-180 deg
+	static constexpr double SERVO_OUTPUT_OFFSET = 180.;
+
 	gz::transport::Node &_node;
 	pthread_mutex_t &_node_mutex;