Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

improved GCS parameter readablity #23376

Merged
merged 5 commits into from
Aug 19, 2024
Merged
Show file tree
Hide file tree
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Original file line number Diff line number Diff line change
Expand Up @@ -95,7 +95,7 @@ PARAM_DEFINE_INT32(MPC_ALT_MODE, 2);
/**
* Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
*
* Only used with MPC_POS_MODE 0 or MPC_ALT_MODE 2
* Only used with MPC_POS_MODE Direct velocity or MPC_ALT_MODE 2
*
* @unit m/s
* @min 0
Expand Down
2 changes: 1 addition & 1 deletion src/modules/mc_pos_control/multicopter_autonomous_params.c
Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.5f);
/**
* Acceleration for autonomous and for manual modes
*
* When piloting manually, this parameter is only used in MPC_POS_MODE 4.
* When piloting manually, this parameter is only used in MPC_POS_MODE Acceleration based.
*
* @unit m/s^2
* @min 2
Expand Down
11 changes: 7 additions & 4 deletions src/modules/mc_pos_control/multicopter_position_mode_params.c
Original file line number Diff line number Diff line change
Expand Up @@ -35,12 +35,15 @@
* Position/Altitude mode variant
*
* The supported sub-modes are:
* 0 Sticks directly map to velocity setpoints without smoothing.
* - "Direct velocity":
* Sticks directly map to velocity setpoints without smoothing.
* Also applies to vertical direction and Altitude mode.
* Useful for velocity control tuning.
* 3 Sticks map to velocity but with maximum acceleration and jerk limits based on
* - "Smoothed velocity":
* Sticks map to velocity but with maximum acceleration and jerk limits based on
* jerk optimized trajectory generator (different algorithm than 1).
* 4 Sticks map to acceleration and there's a virtual brake drag
* - "Acceleration based":
* Sticks map to acceleration and there's a virtual brake drag
*
* @value 0 Direct velocity
* @value 3 Smoothed velocity
Expand Down Expand Up @@ -122,7 +125,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.f);
*
* Setting this to the maximum value essentially disables the limit.
*
* Only used with smooth MPC_POS_MODE 3 and 4.
* Only used with smooth MPC_POS_MODE Smoothed velocity and Acceleration based.
*
* @unit m/s^3
* @min 0.5
Expand Down
Loading