diff --git a/src/lib/mixer_module/params.c b/src/lib/mixer_module/params.c new file mode 100644 index 0000000000..26acd17694 --- /dev/null +++ b/src/lib/mixer_module/params.c @@ -0,0 +1,18 @@ + +/** + * Multicopter air-mode + * + * The air-mode enables the mixer to increase the total thrust of the multirotor + * in order to keep attitude and rate control even at low and high throttle. + * + * This function should be disabled during tuning as it will help the controller + * to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet). + * + * Enabling air-mode for yaw requires the use of an arming switch. + * + * @value 0 Disabled + * @value 1 Roll/Pitch + * @value 2 Roll/Pitch/Yaw + * @group Multicopter Attitude Control + */ +PARAM_DEFINE_INT32(MC_AIRMODE, 0); diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 52304cdc47..0cafa88fcf 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -609,21 +609,3 @@ PARAM_DEFINE_FLOAT(MC_TPA_RATE_D, 0.0f); */ PARAM_DEFINE_FLOAT(MC_DTERM_CUTOFF, 0.f); -/** - * Multicopter air-mode - * - * The air-mode enables the mixer to increase the total thrust of the multirotor - * in order to keep attitude and rate control even at low and high throttle. - * - * This function should be disabled during tuning as it will help the controller - * to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet). - * - * Enabling air-mode for yaw requires the use of an arming switch. - * - * @value 0 Disabled - * @value 1 Roll/Pitch - * @value 2 Roll/Pitch/Yaw - * @group Multicopter Attitude Control - */ -PARAM_DEFINE_INT32(MC_AIRMODE, 0); -