From 4c1c01f571575ca17b9153072ce729dc1f830d8f Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sun, 1 Oct 2023 18:21:01 +0100
Subject: [PATCH] Tracker: update for new AC_PID settings

---
 AntennaTracker/Parameters.cpp | 72 +++++++----------------------------
 1 file changed, 14 insertions(+), 58 deletions(-)

diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index b9c48d4e9a..79d1739ed2 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/AntennaTracker/Parameters.cpp
@@ -387,45 +387,23 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Units: d%
     // @User: Advanced
 
-    // @Param: PITCH2SRV_ADV
-    // @DisplayName: Advanced Pitch parameters enable
-    // @Description: Advanced Pitch parameters enable
-    // @Values: 0:Disabled,1:Enabled
-    // @User: Advanced
-
     // @Param: PITCH2SRV_D_FF
     // @DisplayName: Pitch Derivative FeedForward Gain
     // @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
-    // @Range: 0.001 0.1
+    // @Range: 0 0.1
     // @Increment: 0.001
     // @User: Advanced
 
     // @Param: PITCH2SRV_NTF
-    // @DisplayName: Pitch Target notch Filter center frequency
-    // @Description: Pitch Target notch Filter center frequency in Hz.
-    // @Range: 10 495
-    // @Units: Hz
+    // @DisplayName: Pitch Target notch filter index
+    // @Description: Pitch Target notch filter index
+    // @Range: 1 8
     // @User: Advanced
 
     // @Param: PITCH2SRV_NEF
-    // @DisplayName: Pitch Error notch Filter center frequency
-    // @Description: Pitch Error notch Filter center frequency in Hz.
-    // @Range: 10 495
-    // @Units: Hz
-    // @User: Advanced
-
-    // @Param: PITCH2SRV_NBW
-    // @DisplayName: Pitch notch Filter bandwidth
-    // @Description: Pitch notch Filter bandwidth in Hz.
-    // @Range: 5 250
-    // @Units: Hz
-    // @User: Advanced
-
-    // @Param: PITCH2SRV_NATT
-    // @DisplayName: Pitch notch Filter attenuation
-    // @Description: Pitch notch Filter attenuation in dB.
-    // @Range: 5 50
-    // @Units: dB
+    // @DisplayName: Pitch Error notch filter index
+    // @Description: Pitch Error notch filter index
+    // @Range: 1 8
     // @User: Advanced
 
     GGROUP(pidPitch2Srv,       "PITCH2SRV_", AC_PID),
@@ -505,45 +483,23 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Units: d%
     // @User: Advanced
 
-    // @Param: YAW2SRV_ADV
-    // @DisplayName: Advanced Yaw parameters enable
-    // @Description: Advanced Yaw parameters enable
-    // @Values: 0:Disabled,1:Enabled
-    // @User: Advanced
-
     // @Param: YAW2SRV_D_FF
     // @DisplayName: Yaw Derivative FeedForward Gain
     // @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
-    // @Range: 0.001 0.1
+    // @Range: 0 0.1
     // @Increment: 0.001
     // @User: Advanced
 
     // @Param: YAW2SRV_NTF
-    // @DisplayName: Yaw Target notch Filter center frequency
-    // @Description: Yaw Target notch Filter center frequency in Hz.
-    // @Range: 10 495
-    // @Units: Hz
+    // @DisplayName: Yaw Target notch filter index
+    // @Description: Yaw Target notch filter index
+    // @Range: 1 8
     // @User: Advanced
 
     // @Param: YAW2SRV_NEF
-    // @DisplayName: Yaw Error notch Filter center frequency
-    // @Description: Yaw Error notch Filter center frequency in Hz.
-    // @Range: 10 495
-    // @Units: Hz
-    // @User: Advanced
-
-    // @Param: YAW2SRV_NBW
-    // @DisplayName: Yaw notch Filter bandwidth
-    // @Description: Yaw notch Filter bandwidth in Hz.
-    // @Range: 5 250
-    // @Units: Hz
-    // @User: Advanced
-
-    // @Param: YAW2SRV_NATT
-    // @DisplayName: Yaw notch Filter attenuation
-    // @Description: Yaw notch Filter attenuation in dB.
-    // @Range: 5 50
-    // @Units: dB
+    // @DisplayName: Yaw Error notch filter index
+    // @Description: Yaw Error notch filter index
+    // @Range: 1 8
     // @User: Advanced
 
     GGROUP(pidYaw2Srv,         "YAW2SRV_", AC_PID),