From 67b0f5e07e45d91bee526ef565adebce6df3d30c Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Tue, 12 Jul 2022 15:17:03 +0200 Subject: [PATCH] runway takeoff params: improve descriptions --- .../runway_takeoff/runway_takeoff_params.c | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/src/modules/fw_pos_control_l1/runway_takeoff/runway_takeoff_params.c b/src/modules/fw_pos_control_l1/runway_takeoff/runway_takeoff_params.c index 8d52b93ee0..58acf81d8d 100644 --- a/src/modules/fw_pos_control_l1/runway_takeoff/runway_takeoff_params.c +++ b/src/modules/fw_pos_control_l1/runway_takeoff/runway_takeoff_params.c @@ -48,10 +48,11 @@ PARAM_DEFINE_INT32(RWTO_TKOFF, 0); /** - * Specifies which heading should be held during runnway takeoff. + * Specifies which heading should be held during the runway takeoff ground roll. * - * 0: airframe heading - * 1: position control along runway direction (defined by operator in MAV_CMD) + * 0: airframe heading when takeoff is initiated + * 1: position control along runway direction (bearing defined from vehicle position on takeoff initiation to MAV_CMD_TAKEOFF + * position defined by operator) * * @value 0 Airframe * @value 1 Runway @@ -148,6 +149,9 @@ PARAM_DEFINE_FLOAT(RWTO_L1_PERIOD, 5.0f); /** * Enable use of yaw stick for nudging the wheel during runway ground roll * + * This is useful when map, GNSS, or yaw errors on ground are misaligned with what the operator intends for takeoff course. + * Particularly useful for skinny runways or if the wheel servo is a bit off trim. + * * @boolean * @group Runway Takeoff */