// @Description: This controls the time constant in seconds from demanded to achieved bank angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve.
// @Description: The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle
// @Range: 0.1 10.0
// @Increment: 0.1
// @User: User
AP_GROUPINFO("P",1,AP_SteerController,_K_P,1.8f),
// @Param: I
// @DisplayName: Integrator Gain
// @Description: This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle.
// @Range: 0 1.0
// @Increment: 0.05
// @User: User
AP_GROUPINFO("I",3,AP_SteerController,_K_I,0.2f),
// @Param: D
// @DisplayName: Damping Gain
// @Description: This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle.
// @Description: This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim.