APM_Control: tweak the parameter names

libraries/APM_Control/AP_PitchController.cpp

@@ -17,7 +17,7 @@ extern const AP_HAL::HAL& hal;
 const AP_Param::GroupInfo AP_PitchController::var_info[] PROGMEM = {
 
 	// @Param: OMEGA
-	// @DisplayName: Pitch rate gain
+	// @DisplayName: Pitch to rate gain
 	// @Description: This is the gain from pitch angle error to demanded pitch rate. It controls the time constant from demanded to achieved pitch angle. For example if a time constant from demanded to achieved pitch of 0.5 sec was required, this gain would be set to 1/0.5 = 2.0. A value of 1.0 is a good default and will work with nearly all models. Advanced users may want to increase this to obtain a faster response.
 	// @Range: 0.8 2.5
 	// @Increment: 0.1
@@ -25,7 +25,7 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] PROGMEM = {
 	AP_GROUPINFO("OMEGA",      0, AP_PitchController, _kp_angle,       1.0),
 
 	// @Param: K_P
-	// @DisplayName: Pitch demand gain
+	// @DisplayName: Pitch to elevator gain
 	// @Description: This is the gain from demanded pitch rate to demanded elevator. Provided CTL_PTCH_OMEGA is set to 1.0, then this gain works the same way as the P term in the old PID (PTCH2SRV_P) and can be set to the same value.
 	// @Range: 0.1 2
 	// @Increment: 0.1
@@ -33,7 +33,7 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] PROGMEM = {
 	AP_GROUPINFO("K_P",        1, AP_PitchController, _kp_ff,          0.4),
 
 	// @Param: K_D
-	// @DisplayName: Pitch derivative gain
+	// @DisplayName: Pitch damping gain
 	// @Description: This is the gain from pitch rate error to demanded elevator. This adjusts the damping of the pitch control loop. It has the same effect as the D term in the old PID (PTCH2SRV_D) but without the large spikes in servo demands. This will be set to 0 as a default. Some airframes such as flying wings that have poor pitch damping can benefit from a small value of up to 0.1 on this gain term. This should be increased in 0.01 increments as to high a value can lead to a high frequency pitch oscillation that could overstress the airframe.
 	// @Range: 0 0.1
 	// @Increment: 0.01
@@ -41,9 +41,9 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] PROGMEM = {
 	AP_GROUPINFO("K_D",        2, AP_PitchController, _kp_rate,        0.0),
 
 	// @Param: K_I
-	// @DisplayName: Pitch integration gain
+	// @DisplayName: Pitch integrator gain
 	// @Description: This is the gain for integration of the pitch rate error. It has essentially the same effect as the I term in the old PID (PTCH2SRV_I). This can be set to 0 as a default, however users can increment this to make the pitch angle tracking more accurate.
-	// @Range: 0 0.2
+	// @Range: 0 0.3
 	// @Increment: 0.01
 	// @User: User
 	AP_GROUPINFO("K_I",        3, AP_PitchController, _ki_rate,        0.0),
@@ -67,9 +67,9 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] PROGMEM = {
 	AP_GROUPINFO("RMAX_D",     5, AP_PitchController, _max_rate_neg,   0.0),
 
 	// @Param: K_RLL
-	// @DisplayName: Pitch/roll height control
+	// @DisplayName: Roll compensation
 	// @Description: This is the gain term that is applied to the pitch rate offset calculated as required to keep the nose level during turns. The default value is 1 which will work for all models. Advanced users can use it to correct for height variation in turns. If height is lost initially in turns this can be increased in small increments of 0.05 to compensate. If height is gained initially in turns then it can be decreased.
-	// @Range: 0.5 2
+	// @Range: 0.7 1.5
 	// @Increment: 0.05
 	// @User: User
 	AP_GROUPINFO("K_RLL",      6, AP_PitchController, _roll_ff,        1.0),

libraries/APM_Control/TuningGuide.txt

@@ -1,7 +1,7 @@
 Tuning Overview
 ---------------
-x
-The following instruction assume that
+
+The following instruction assume that:
 
 a) your model is trimmed correctly in manual mode
 b) you have done your radio calibration