From ba1d02ee75d8cdb95b6fad6e9978c3f8c6147797 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Fri, 27 Jan 2023 10:20:08 +0100 Subject: [PATCH] MPC: improve description of MPC_LAND_RC_HELP Signed-off-by: Silvan Fuhrer --- src/modules/mc_pos_control/mc_pos_control_params.c | 6 +++++- 1 file changed, 5 insertions(+), 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 3006995d92..50b541a6ed 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -460,17 +460,21 @@ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f); PARAM_DEFINE_FLOAT(MPC_LAND_CRWL, 0.3f); /** - * Enable user assisted descent speed for autonomous land routine. + * Enable user assisted descent for autonomous land routine * * When enabled, descent speed will be: * stick full up - 0 * stick centered - MPC_LAND_SPEED * stick full down - 2 * MPC_LAND_SPEED * + * Additionally, the vehicle can be yawed and moved laterally using the other sticks. + * Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE). + * * @min 0 * @max 1 * @value 0 Fixed descent speed of MPC_LAND_SPEED * @value 1 User assisted descent speed + * @group Multicopter Position Control */ PARAM_DEFINE_INT32(MPC_LAND_RC_HELP, 0);