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mc_pos_control_params: update MPC_POS_MODE description

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- remove deprecated sport mode
- clarify wording
This commit is contained in:
Matthias Grob
2020-04-02 11:52:44 +02:00
parent 15332a7e56
commit 70c28c7274
1 changed files with 7 additions and 10 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+7 -10
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@@ -708,18 +708,15 @@ PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.0f);
* Manual-Position control sub-mode
*
* The supported sub-modes are:
* 0 Default position control where sticks map to position/velocity directly. Maximum speeds
* is MPC_VEL_MANUAL.
* 1 Smooth position control where setpoints are adjusted based on acceleration limits
* and jerk limits.
* 2 Sport mode that is the same Default position control but with velocity limits set to
* the maximum allowed speeds (MPC_XY_VEL_MAX)
* 3 Smooth position control with maximum acceleration and jerk limits (different algorithm
* than 1).
* 0 Simple position control where sticks map directly to velocity setpoints
* without smoothing. Useful for velocity control tuning.
* 1 Smooth position control with maximum acceleration and jerk limits based on slew-rates.
* 3 Smooth position control with maximum acceleration and jerk limits based on
* jerk optimized trajectory generator (different algorithm than 1).
*
* @value 0 Default position control
* @value 0 Simple position control
* @value 1 Smooth position control
* @value 3 Smooth position control (Velocity)
* @value 3 Smooth position control (Jerk optimized)
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_POS_MODE, 3);