From e36d4d19e26c93aac47dc2e96bb29ca99a5c3bd9 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 13 Feb 2020 18:17:01 +0900
Subject: [PATCH] AC_AttitudeControl_Heli: fix VFF and ILMI param descriptions

---
 .../AC_AttitudeControl_Heli.cpp               | 24 ++++++++++++++++---
 1 file changed, 21 insertions(+), 3 deletions(-)

diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
index e385526376..463498600e 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
@@ -35,6 +35,12 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Increment: 0.01
     // @User: Standard
 
+    // @Param: RAT_RLL_ILMI
+    // @DisplayName: Roll axis rate controller I-term leak minimum
+    // @Description: Point below which I-term will not leak down
+    // @Range: 0 1
+    // @User: Advanced
+
     // @Param: RAT_RLL_D
     // @DisplayName: Roll axis rate controller D gain
     // @Description: Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate
@@ -42,7 +48,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Increment: 0.001
     // @User: Standard
 
-    // @Param: RAT_RLL_FF
+    // @Param: RAT_RLL_VFF
     // @DisplayName: Roll axis rate controller feed forward
     // @Description: Roll axis rate controller feed forward
     // @Range: 0 0.5
@@ -95,6 +101,12 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Increment: 0.01
     // @User: Standard
 
+    // @Param: RAT_PIT_ILMI
+    // @DisplayName: Pitch axis rate controller I-term leak minimum
+    // @Description: Point below which I-term will not leak down
+    // @Range: 0 1
+    // @User: Advanced
+
     // @Param: RAT_PIT_D
     // @DisplayName: Pitch axis rate controller D gain
     // @Description: Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate
@@ -102,7 +114,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Increment: 0.001
     // @User: Standard
 
-    // @Param: RAT_PIT_FF
+    // @Param: RAT_PIT_VFF
     // @DisplayName: Pitch axis rate controller feed forward
     // @Description: Pitch axis rate controller feed forward
     // @Range: 0 0.5
@@ -155,6 +167,12 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Increment: 0.01
     // @User: Standard
 
+    // @Param: RAT_YAW_ILMI
+    // @DisplayName: Yaw axis rate controller I-term leak minimum
+    // @Description: Point below which I-term will not leak down
+    // @Range: 0 1
+    // @User: Advanced
+
     // @Param: RAT_YAW_D
     // @DisplayName: Yaw axis rate controller D gain
     // @Description: Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate
@@ -162,7 +180,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Increment: 0.001
     // @User: Standard
 
-    // @Param: RAT_YAW_FF
+    // @Param: RAT_YAW_VFF
     // @DisplayName: Yaw axis rate controller feed forward
     // @Description: Yaw axis rate controller feed forward
     // @Range: 0 0.5