From f3a8d05f8c2ad79c8ea22ea70328aebddc3371b7 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Wed, 14 Aug 2024 12:18:14 +1000 Subject: [PATCH] MPC_ACC_DECOUPLE - better description (#23518) --- .../mc_pos_control/multicopter_position_control_limits_params.c | 2 ++ 1 file changed, 2 insertions(+) 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 91039f04ea..8307b82d72 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 @@ -143,6 +143,8 @@ PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.f); * Acceleration to tilt coupling * * Set to decouple tilt from vertical acceleration. + * This provides smoother flight but slightly worse tracking in position and auto modes. + * Unset if accurate position tracking during dynamic maneuvers is more important than a smooth flight. * * @boolean * @group Multicopter Position Control