From 0113212b347d451f9b4b19a82a45a49b9176f931 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Fri, 11 May 2018 15:54:21 +1000 Subject: [PATCH] mc_pos_control: Update parameter descriptions --- src/modules/mc_pos_control/mc_pos_control_params.c | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 688aee9856..7fd4d41439 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -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