From 63f888274491b6706aee68e68b1fb3dccbb7034c Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 7 Nov 2022 20:46:35 +0900 Subject: [PATCH] AR_AttitudeControl: improve balancebot pitch control param description --- libraries/APM_Control/AR_AttitudeControl.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/APM_Control/AR_AttitudeControl.cpp b/libraries/APM_Control/AR_AttitudeControl.cpp index ca8aa2593d..908daf3e1f 100644 --- a/libraries/APM_Control/AR_AttitudeControl.cpp +++ b/libraries/APM_Control/AR_AttitudeControl.cpp @@ -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