From c1cab2d4e05db0792fbf2526008f421f3a42af7b Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 23 Oct 2024 19:33:26 +0200 Subject: [PATCH] control_allocator: add unit for slew rate and reword description --- src/modules/control_allocator/module.yaml | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/src/modules/control_allocator/module.yaml b/src/modules/control_allocator/module.yaml index 013b954033..4f49ef8b86 100644 --- a/src/modules/control_allocator/module.yaml +++ b/src/modules/control_allocator/module.yaml @@ -71,15 +71,14 @@ parameters: description: short: Motor ${i} slew rate limit long: | - Minimum time allowed for the motor input signal to pass through - the full output range. A value x means that the motor signal - can only go from 0 to 1 in minimum x seconds (in case of - reversible motors, the range is -1 to 1). + Forces the motor output signal to take at least the configured time (in seconds) + to traverse its full rangr normally [0%, 100%] if reversible [-100%, 100%]. Zero means that slew rate limiting is disabled. type: float decimal: 2 increment: 0.01 + unit: s num_instances: *max_num_mc_motors min: 0 max: 10 @@ -90,14 +89,14 @@ parameters: description: short: Servo ${i} slew rate limit long: | - Minimum time allowed for the servo input signal to pass through - the full output range. A value x means that the servo signal - can only go from -1 to 1 in minimum x seconds. + Forces the servo output signal to take at least the configured time (in seconds) + to traverse its full range [-100%, 100%]. Zero means that slew rate limiting is disabled. type: float decimal: 2 increment: 0.05 + unit: s num_instances: *max_num_servos min: 0 max: 10