From ead3eeda6c190d9f0b1b73dbd1065f9101c74a11 Mon Sep 17 00:00:00 2001 From: Mark Whitehorn Date: Sun, 3 Jan 2016 07:33:25 -0700 Subject: [PATCH] expand description of MPC_THR_HOVER parameter --- src/modules/mc_pos_control/mc_pos_control_params.c | 5 +++++ 1 file changed, 5 insertions(+) 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 9be0c5af4c..ca35692a9a 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -54,6 +54,11 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f); * Hover thrust * * Vertical thrust required to hover. + * This value is mapped to center stick for manual throttle control. + * With this value set to the thrust required to hover, transition + * from manual to ALTCTL mode while hovering will occur with the + * throttle stick near center, which is then interpreted as (near) + * zero demand for vertical speed. * * @min 0.2 * @max 0.8