From 97a4eed232cbce51107fa93e0edda31b7b2295eb Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sun, 1 Oct 2023 18:21:01 +0100
Subject: [PATCH] Blimp: update for new AC_PID settings

D_FF logging docs
---
 Blimp/Log.cpp        |  1 +
 Blimp/Parameters.cpp | 36 +++++++-----------------------------
 2 files changed, 8 insertions(+), 29 deletions(-)

diff --git a/Blimp/Log.cpp b/Blimp/Log.cpp
index 01a3e0f3e7..17c3161fab 100644
--- a/Blimp/Log.cpp
+++ b/Blimp/Log.cpp
@@ -280,6 +280,7 @@ const struct LogStructure Blimp::log_structure[] = {
     // @Field: I: integral part of PID
     // @Field: D: derivative part of PID
     // @Field: FF: controller feed-forward portion of response
+    // @Field: DFF: controller derivative feed-forward portion of response
     // @Field: Dmod: scaler applied to D gain to reduce limit cycling
     // @Field: SRate: slew rate
     // @Field: Flags: bitmask of PID state flags
diff --git a/Blimp/Parameters.cpp b/Blimp/Parameters.cpp
index aab8caeadc..26971ef2e6 100644
--- a/Blimp/Parameters.cpp
+++ b/Blimp/Parameters.cpp
@@ -730,45 +730,23 @@ const AP_Param::Info Blimp::var_info[] = {
     // @Units: d%
     // @User: Advanced
 
-    // @Param: POSYAW_ADV
-    // @DisplayName: Advanced Yaw parameters enable
-    // @Description: Advanced Yaw parameters enable
-    // @Values: 0:Disabled,1:Enabled
-    // @User: Advanced
-
     // @Param: POSYAW_D_FF
     // @DisplayName: Position (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: POSYAW_NTF
-    // @DisplayName: Position (yaw) Target notch Filter center frequency
-    // @Description: Position (yaw) Target notch Filter center frequency in Hz.
-    // @Range: 10 495
-    // @Units: Hz
+    // @DisplayName: Position (yaw) Target notch filter index
+    // @Description: Position (yaw) Target notch filter index
+    // @Range: 1 8
     // @User: Advanced
 
     // @Param: POSYAW_NEF
-    // @DisplayName: Position (yaw) Error notch Filter center frequency
-    // @Description: Position (yaw) Error notch Filter center frequency in Hz.
-    // @Range: 10 495
-    // @Units: Hz
-    // @User: Advanced
-
-    // @Param: POSYAW_NBW
-    // @DisplayName: Position (yaw) notch Filter bandwidth
-    // @Description: Position (yaw) notch Filter bandwidth in Hz.
-    // @Range: 5 250
-    // @Units: Hz
-    // @User: Advanced
-
-    // @Param: POSYAW_NATT
-    // @DisplayName: Position (yaw) notch Filter attenuation
-    // @Description: Position (yaw) notch Filter attenuation in dB.
-    // @Range: 5 50
-    // @Units: dB
+    // @DisplayName: Position (yaw) Error notch filter index
+    // @Description: Position (yaw) Error notch filter index
+    // @Range: 1 8
     // @User: Advanced
 
     GOBJECT(pid_pos_yaw, "POSYAW_", AC_PID),