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.
2023-11-13 11:22:18 +01:00
1 changed files with 3 additions and 3 deletions
--- 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