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AR_AttitudeControl: improve balancebot pitch control param description

This commit is contained in:
Randy Mackay 2022-11-07 20:46:35 +09:00
parent 105dcb7dab
commit 30b2e03a85
1 changed files with 4 additions and 4 deletions
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8
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -319,7 +319,7 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Param: _BAL_FLTT
// @DisplayName: Pitch control Target filter frequency in Hz
// @Description: Target filter frequency in Hz
// @Description: Pitch control Target filter frequency in Hz
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz
@ -327,7 +327,7 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Param: _BAL_FLTE
// @DisplayName: Pitch control Error filter frequency in Hz
// @Description: Error filter frequency in Hz
// @Description: Pitch control Error filter frequency in Hz
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz
@ -335,7 +335,7 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Param: _BAL_FLTD
// @DisplayName: Pitch control Derivative term filter frequency in Hz
// @Description: Derivative filter frequency in Hz
// @Description: Pitch control Derivative filter frequency in Hz
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz
@ -343,7 +343,7 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Param: _BAL_SMAX
// @DisplayName: Pitch control slew rate limit
// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
// @Description: Pitch control upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
// @Range: 0 200
// @Increment: 0.5
// @User: Advanced