From d73b2e86252596951ef225da81abfafd9b2cfc1b Mon Sep 17 00:00:00 2001
From: Thomas Stastny <thomas.stastny@auterion.com>
Date: Thu, 14 Jul 2022 00:39:31 +0200
Subject: [PATCH] fw pos ctrl params: update flaring param values and docs

---
 .../fw_pos_control_l1/fw_pos_control_l1_params.c      | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index 43e409f028..448a4195a1 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -400,14 +400,15 @@ PARAM_DEFINE_FLOAT(FW_TKO_PITCH_MIN, 10.0f);
 /**
  * Landing flare altitude (relative to landing altitude)
  *
+ * NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * |z-velocity|) is taken as the flare altitude
+ *
  * @unit m
  * @min 0.0
- * @max 25.0
  * @decimal 1
  * @increment 0.5
  * @group FW L1 Control
  */
-PARAM_DEFINE_FLOAT(FW_LND_FLALT, 3.0f);
+PARAM_DEFINE_FLOAT(FW_LND_FLALT, 0.5f);
 
 /**
  * Use terrain estimate during landing.
@@ -440,7 +441,7 @@ PARAM_DEFINE_INT32(FW_LND_EARLYCFG, 0);
  * Flare, minimum pitch
  *
  * Minimum pitch during flare, a positive sign means nose up
- * Applied once FW_LND_FLALT is reached
+ * Applied once flaring is triggered
  *
  * @unit deg
  * @min 0
@@ -455,7 +456,7 @@ PARAM_DEFINE_FLOAT(FW_LND_FL_PMIN, 2.5f);
  * Flare, maximum pitch
  *
  * Maximum pitch during flare, a positive sign means nose up
- * Applied once FW_LND_FLALT is reached
+ * Applied once flaring is triggered
  *
  * @unit deg
  * @min 0
@@ -991,6 +992,8 @@ PARAM_DEFINE_FLOAT(FW_WING_HEIGHT, 0.5);
  * Multiplied by the descent rate to calculate a dynamic altitude at which
  * to trigger the flare.
  *
+ * NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * |z-velocity|) is taken as the flare altitude
+ *
  * @unit s
  * @min 0.0
  * @max 5.0