From 42bcc3d088ff184da876d95d1b478105268448e8 Mon Sep 17 00:00:00 2001
From: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Date: Mon, 13 Nov 2023 11:22:18 +0100
Subject: [PATCH] MC rate control: let the user set P gain to 1 to use K
 instead

To tune the PID controller using the standard/ideal form, one needs to set the P gain to 1.
---
 src/modules/mc_rate_control/mc_rate_control_params.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/modules/mc_rate_control/mc_rate_control_params.c b/src/modules/mc_rate_control/mc_rate_control_params.c
index 2571a70c1f..c5ba7e1b0a 100644
--- a/src/modules/mc_rate_control/mc_rate_control_params.c
+++ b/src/modules/mc_rate_control/mc_rate_control_params.c
@@ -43,7 +43,7 @@
  * Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
  *
  * @min 0.01
- * @max 0.5
+ * @max 1.0
  * @decimal 3
  * @increment 0.01
  * @group Multicopter Rate Control
@@ -124,7 +124,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_K, 1.0f);
  * Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
  *
  * @min 0.01
- * @max 0.6
+ * @max 1.0
  * @decimal 3
  * @increment 0.01
  * @group Multicopter Rate Control
@@ -204,7 +204,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_K, 1.0f);
  * Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
  *
  * @min 0.0
- * @max 0.6
+ * @max 1.0
  * @decimal 2
  * @increment 0.01
  * @group Multicopter Rate Control