From 7e79d65aa4fa63e9db6f2354d11ec320a483c2bf Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Thu, 22 Jun 2023 15:29:34 +0200
Subject: [PATCH] mc_pos_control_params: clarify maximum vertical velocity
 parameters

---
 ...lticopter_position_control_limits_params.c | 34 +++++++++++++++++++
 .../multicopter_position_mode_params.c        | 28 ---------------
 2 files changed, 34 insertions(+), 28 deletions(-)

diff --git a/src/modules/mc_pos_control/multicopter_position_control_limits_params.c b/src/modules/mc_pos_control/multicopter_position_control_limits_params.c
index f65fc10e14..a60732cfa8 100644
--- a/src/modules/mc_pos_control/multicopter_position_control_limits_params.c
+++ b/src/modules/mc_pos_control/multicopter_position_control_limits_params.c
@@ -46,6 +46,40 @@
  */
 PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.f);
 
+/**
+ * Maximum ascent velocity
+ *
+ * Absolute maximum for all climb rate controlled modes.
+ * In manually piloted modes full stick deflection commands this velocity.
+ *
+ * For default autonomous velocity see MPC_Z_V_AUTO_UP
+ *
+ * @unit m/s
+ * @min 0.5
+ * @max 8
+ * @increment 0.1
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.f);
+
+/**
+ * Maximum descent velocity
+ *
+ * Absolute maximum for all climb rate controlled modes.
+ * In manually piloted modes full stick deflection commands this velocity.
+ *
+ * For default autonomous velocity see MPC_Z_V_AUTO_UP
+ *
+ * @unit m/s
+ * @min 0.5
+ * @max 4
+ * @increment 0.1
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f);
+
 /**
  * Maximum tilt angle in air
  *
diff --git a/src/modules/mc_pos_control/multicopter_position_mode_params.c b/src/modules/mc_pos_control/multicopter_position_mode_params.c
index e003c3e9dd..56adad1144 100644
--- a/src/modules/mc_pos_control/multicopter_position_mode_params.c
+++ b/src/modules/mc_pos_control/multicopter_position_mode_params.c
@@ -96,34 +96,6 @@ PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.f);
  */
 PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.f);
 
-/**
- * Maximum ascent velocity in manually piloted climb rate controlled modes and offboard
- *
- * For autonomous modes see MPC_Z_V_AUTO_UP
- *
- * @unit m/s
- * @min 0.5
- * @max 8
- * @increment 0.1
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.f);
-
-/**
- * Maximum descent velocity in manually piloted climb rate controlled modes and offboard
- *
- * For autonomous modes, see MPC_Z_V_AUTO_DN
- *
- * @unit m/s
- * @min 0.5
- * @max 4
- * @increment 0.1
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f);
-
 /**
  * Maximum horizontal acceleration
  *