From 890ac7e4b3aabebd4be1087fd7bf123acbec6187 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 13 Feb 2020 18:09:24 +0900 Subject: [PATCH] AC_PosControl: add missing ACCZ param descriptions --- .../AC_AttitudeControl/AC_PosControl.cpp | 32 ++++++++++++++++--- 1 file changed, 28 insertions(+), 4 deletions(-) diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp index 3c5ed5ec31..f576132082 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.cpp +++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp @@ -114,10 +114,34 @@ const AP_Param::GroupInfo AC_PosControl::var_info[] = { // @Range: 0.000 0.400 // @User: Standard - // @Param: _ACCZ_FILT - // @DisplayName: Acceleration (vertical) controller filter - // @Description: Filter applied to acceleration to reduce noise. Lower values reduce noise but add delay. - // @Range: 1.000 100.000 + // @Param: _ACCZ_FF + // @DisplayName: Acceleration (vertical) controller feed forward + // @Description: Acceleration (vertical) controller feed forward + // @Range: 0 0.5 + // @Increment: 0.001 + // @User: Standard + + // @Param: _ACCZ_FLTT + // @DisplayName: Acceleration (vertical) controller target frequency in Hz + // @Description: Acceleration (vertical) controller target frequency in Hz + // @Range: 1 50 + // @Increment: 1 + // @Units: Hz + // @User: Standard + + // @Param: _ACCZ_FLTE + // @DisplayName: Acceleration (vertical) controller error frequency in Hz + // @Description: Acceleration (vertical) controller error frequency in Hz + // @Range: 1 100 + // @Increment: 1 + // @Units: Hz + // @User: Standard + + // @Param: _ACCZ_FLTD + // @DisplayName: Acceleration (vertical) controller derivative frequency in Hz + // @Description: Acceleration (vertical) controller derivative frequency in Hz + // @Range: 1 100 + // @Increment: 1 // @Units: Hz // @User: Standard AP_SUBGROUPINFO(_pid_accel_z, "_ACCZ_", 4, AC_PosControl, AC_PID),