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AntennaTracker: added SMAX param docs

This commit is contained in:
Andrew Tridgell 2020-09-24 17:26:05 +10:00
parent 9a244eef29
commit 999c7e0dc4
1 changed files with 18 additions and 2 deletions
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20
AntennaTracker/Parameters.cpp
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@ -355,7 +355,15 @@ const AP_Param::Info Tracker::var_info[] = {
// @Increment: 1 // @Increment: 1
// @Units: Hz // @Units: Hz
// @User: Standard // @User: Standard
GGROUP(pidPitch2Srv, "PITCH2SRV_", AC_PID),
// @Param: PITCH2SRV_SMAX
// @DisplayName: Pitch 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.
// @Range: 0 200
// @Increment: 0.5
// @User: Advanced
GGROUP(pidPitch2Srv, "PITCH2SRV_", AC_PID),
// @Param: YAW2SRV_P // @Param: YAW2SRV_P
// @DisplayName: Yaw axis controller P gain // @DisplayName: Yaw axis controller P gain
@ -416,7 +424,15 @@ const AP_Param::Info Tracker::var_info[] = {
// @Increment: 1 // @Increment: 1
// @Units: Hz // @Units: Hz
// @User: Standard // @User: Standard
GGROUP(pidYaw2Srv, "YAW2SRV_", AC_PID),
// @Param: YAW2SRV_SMAX
// @DisplayName: Yaw 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.
// @Range: 0 200
// @Increment: 0.5
// @User: Advanced
GGROUP(pidYaw2Srv, "YAW2SRV_", AC_PID),
#ifdef ENABLE_SCRIPTING #ifdef ENABLE_SCRIPTING
// @Group: SCR_ // @Group: SCR_