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Documentation - improved GCS parameter readablity (#23376)

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improved GCS parameter description

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Claudio Chies 2024-08-19 13:36:04 +02:00 committed by GitHub
parent 7e45f49152
commit 4d21110cfb
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3 changed files with 9 additions and 6 deletions
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2
src/modules/mc_pos_control/multicopter_altitude_mode_params.c
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@ -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

2
src/modules/mc_pos_control/multicopter_autonomous_params.c
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@ -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

11
src/modules/mc_pos_control/multicopter_position_mode_params.c
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@ -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
@ -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