From df014a2c0563cc62b458a205a15b3fe9c40f2ee8 Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Tue, 19 Sep 2023 11:15:45 +0930
Subject: [PATCH] AC_CustomControl: Support PD Max

---
 .../AC_CustomControl/AC_CustomControl_PID.cpp | 21 +++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/libraries/AC_CustomControl/AC_CustomControl_PID.cpp b/libraries/AC_CustomControl/AC_CustomControl_PID.cpp
index 29e2163cbb..e468e8f0be 100644
--- a/libraries/AC_CustomControl/AC_CustomControl_PID.cpp
+++ b/libraries/AC_CustomControl/AC_CustomControl_PID.cpp
@@ -94,6 +94,13 @@ const AP_Param::GroupInfo AC_CustomControl_PID::var_info[] = {
     // @Range: 0 200
     // @Increment: 0.5
     // @User: Advanced
+
+    // @Param: RAT_RLL_PDMX
+    // @DisplayName: Roll axis rate controller PD sum maximum
+    // @Description: Roll axis rate controller PD sum maximum.  The maximum/minimum value that the sum of the P and D term can output
+    // @Range: 0 1
+    // @Increment: 0.01
+    // @User: Advanced
     AP_SUBGROUPINFO(_pid_atti_rate_roll, "RAT_RLL_", 4, AC_CustomControl_PID, AC_PID),
 
     // @Param: RAT_PIT_P
@@ -161,6 +168,13 @@ const AP_Param::GroupInfo AC_CustomControl_PID::var_info[] = {
     // @Range: 0 200
     // @Increment: 0.5
     // @User: Advanced
+
+    // @Param: RAT_PIT_PDMX
+    // @DisplayName: Pitch axis rate controller PD sum maximum
+    // @Description: Pitch axis rate controller PD sum maximum.  The maximum/minimum value that the sum of the P and D term can output
+    // @Range: 0 1
+    // @Increment: 0.01
+    // @User: Advanced
     AP_SUBGROUPINFO(_pid_atti_rate_pitch, "RAT_PIT_", 5, AC_CustomControl_PID, AC_PID),
 
 
@@ -229,6 +243,13 @@ const AP_Param::GroupInfo AC_CustomControl_PID::var_info[] = {
     // @Range: 0 200
     // @Increment: 0.5
     // @User: Advanced
+
+    // @Param: RAT_YAW_PDMX
+    // @DisplayName: Yaw axis rate controller PD sum maximum
+    // @Description: Yaw axis rate controller PD sum maximum.  The maximum/minimum value that the sum of the P and D term can output
+    // @Range: 0 1
+    // @Increment: 0.01
+    // @User: Advanced
     AP_SUBGROUPINFO(_pid_atti_rate_yaw, "RAT_YAW_", 6, AC_CustomControl_PID, AC_PID),
 
     AP_GROUPEND