From 7779c0bd6970720056e830dbff758a1fc50b08d0 Mon Sep 17 00:00:00 2001 From: bresch Date: Thu, 15 Nov 2018 17:54:29 +0100 Subject: [PATCH] MPC - Update velocity integrator definition --- src/modules/mc_pos_control/mc_pos_control_params.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 28818fab2e..4ac55f0dec 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -214,7 +214,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.09f); /** * Integral gain for horizontal velocity error * - * Non-zero value allows to resist wind. + * Non-zero value allows to eliminate steady state errors in the presence of disturbances like wind. * * @min 0.0 * @max 3.0