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mc_pos_control: Update parameter descriptions

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This commit is contained in:
Paul Riseborough
2018-06-09 13:38:04 +02:00
committed by Lorenz Meier
parent 9e567cadd6
commit 0113212b34
1 changed files with 10 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+10 -2
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@@ -449,7 +449,9 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_FLOW, 0.5f);
/**
* Maximum height above ground when reliant on optical flow.
* The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data.
* The height setpoint will be limited to be no greater than this value when the navigation system
* is completely reliant on optical flow data and the height above ground estimate is valid as indicated
* by the local_position.dist_bottom_valid message being true.
*
* @unit m
* @min 1.0
@@ -514,7 +516,13 @@ PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 0.0f);
PARAM_DEFINE_FLOAT(MPC_JERK_MIN, 1.0f);
/**
* Altitude control mode, note mode 1 only tested with LPE
* Altitude control mode.
*
* Set to 1 to control height above ground instead of height above origin.
* Note: If optical flow is being used as the only source of navigation then the height above ground
* will be selected automatically and maximum height will be limited to the value set by MPC_MAX_FLOW_HGT.
* Note: The height controller will revert to using height above origin if the distance to ground estimate
* becomes invalid as indicated by the local_position.distance_bottom_valid message being false.
*
* @min 0
* @max 1