From 9a244eef291069de4ce881f05522ce1921b1f4eb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 24 Sep 2020 17:26:05 +1000
Subject: [PATCH] APM_Control: added SMAX param docs

---
 libraries/APM_Control/AR_AttitudeControl.cpp | 32 ++++++++++++++++++++
 1 file changed, 32 insertions(+)

diff --git a/libraries/APM_Control/AR_AttitudeControl.cpp b/libraries/APM_Control/AR_AttitudeControl.cpp
index b3d52492cd..b7237851a6 100644
--- a/libraries/APM_Control/AR_AttitudeControl.cpp
+++ b/libraries/APM_Control/AR_AttitudeControl.cpp
@@ -88,6 +88,14 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
     // @Increment: 0.1
     // @Units: Hz
     // @User: Standard
+
+    // @Param: _STR_RAT_SMAX
+    // @DisplayName: Steering 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
+
     AP_SUBGROUPINFO(_steer_rate_pid, "_STR_RAT_", 1, AR_AttitudeControl, AC_PID),
 
     // @Param: _SPEED_P
@@ -156,6 +164,14 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
     // @Increment: 0.1
     // @Units: Hz
     // @User: Standard
+
+    // @Param: _SPEED_SMAX
+    // @DisplayName: Speed control 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
+
     AP_SUBGROUPINFO(_throttle_speed_pid, "_SPEED_", 2, AR_AttitudeControl, AC_PID),
 
     // @Param: _ACCEL_MAX
@@ -284,6 +300,14 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
     // @Increment: 0.1
     // @Units: Hz
     // @User: Standard
+
+    // @Param: _BAL_SMAX
+    // @DisplayName: Pitch control 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
+
     AP_SUBGROUPINFO(_pitch_to_throttle_pid, "_BAL_", 10, AR_AttitudeControl, AC_PID),
 
     // @Param: _BAL_SPD_FF
@@ -360,6 +384,14 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
     // @Increment: 0.1
     // @Units: Hz
     // @User: Standard
+
+    // @Param: _SAIL_SMAX
+    // @DisplayName: Sail heel 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
+
     AP_SUBGROUPINFO(_sailboat_heel_pid, "_SAIL_", 12, AR_AttitudeControl, AC_PID),
 
     AP_GROUPEND