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AC_AttControl_Heli: adjust rate gain param descriptions

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This commit is contained in:
Randy Mackay 2016-02-17 20:14:24 +09:00
parent 35c6ea994d
commit db04dddba5
1 changed files with 20 additions and 17 deletions
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37
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -26,29 +26,28 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
// @Param: RAT_RLL_P
// @DisplayName: Roll axis rate controller P gain
// @Description: Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output
// @Range: 0.08 0.30
// @Range: 0.08 0.35
// @Increment: 0.005
// @User: Standard
// @Param: RAT_RLL_I
// @DisplayName: Roll axis rate controller I gain
// @Description: Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
// @Range: 0.01 0.5
// @Range: 0.01 0.6
// @Increment: 0.01
// @User: Standard
// @Param: RAT_RLL_IMAX
// @DisplayName: Roll axis rate controller I gain maximum
// @Description: Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
// @Range: 0 4500
// @Increment: 10
// @Units: Percent*10
// @Range: 0 1
// @Increment: 0.01
// @User: Standard
// @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
// @Range: 0.001 0.02
// @Range: 0.001 0.03
// @Increment: 0.001
// @User: Standard
@ -56,34 +55,35 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
// @DisplayName: Roll axis rate conroller input frequency in Hz
// @Description: Roll axis rate conroller input frequency in Hz
// @Unit: Hz
// @Range: 1 20
// @Increment: 1
AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 2, AC_AttitudeControl_Heli, AC_HELI_PID),
// @Param: RAT_PIT_P
// @DisplayName: Pitch axis rate controller P gain
// @Description: Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
// @Range: 0.08 0.30
// @Range: 0.08 0.35
// @Increment: 0.005
// @User: Standard
// @Param: RAT_PIT_I
// @DisplayName: Pitch axis rate controller I gain
// @Description: Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
// @Range: 0.01 0.5
// @Range: 0.01 0.6
// @Increment: 0.01
// @User: Standard
// @Param: RAT_PIT_IMAX
// @DisplayName: Pitch axis rate controller I gain maximum
// @Description: Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
// @Range: 0 4500
// @Increment: 10
// @Units: Percent*10
// @Range: 0 1
// @Increment: 0.01
// @User: Standard
// @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
// @Range: 0.001 0.02
// @Range: 0.001 0.03
// @Increment: 0.001
// @User: Standard
@ -91,28 +91,29 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
// @DisplayName: Pitch axis rate conroller input frequency in Hz
// @Description: Pitch axis rate conroller input frequency in Hz
// @Unit: Hz
// @Range: 1 20
// @Increment: 1
AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 3, AC_AttitudeControl_Heli, AC_HELI_PID),
// @Param: RAT_YAW_P
// @DisplayName: Yaw axis rate controller P gain
// @Description: Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output
// @Range: 0.150 0.50
// @Range: 0.180 0.60
// @Increment: 0.005
// @User: Standard
// @Param: RAT_YAW_I
// @DisplayName: Yaw axis rate controller I gain
// @Description: Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate
// @Range: 0.010 0.05
// @Range: 0.01 0.06
// @Increment: 0.01
// @User: Standard
// @Param: RAT_YAW_IMAX
// @DisplayName: Yaw axis rate controller I gain maximum
// @Description: Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
// @Range: 0 4500
// @Increment: 10
// @Units: Percent*10
// @Range: 0 1
// @Increment: 0.01
// @User: Standard
// @Param: RAT_YAW_D
@ -126,6 +127,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
// @DisplayName: Yaw axis rate conroller input frequency in Hz
// @Description: Yaw axis rate conroller input frequency in Hz
// @Unit: Hz
// @Range: 1 20
// @Increment: 1
AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 4, AC_AttitudeControl_Heli, AC_HELI_PID),
AP_GROUPEND