From 701b9f74f8e6afdc65096e9c7457406e6b5e928e Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 18 Dec 2024 19:54:23 +0100 Subject: [PATCH] mc_pos_control: shorten parameter descriptions to a readable size --- .../multicopter_altitude_mode_params.c | 16 +++++++--------- .../multicopter_position_mode_params.c | 11 +++++------ .../multicopter_stabilized_mode_params.c | 16 +++++++--------- 3 files changed, 19 insertions(+), 24 deletions(-) diff --git a/src/modules/mc_pos_control/multicopter_altitude_mode_params.c b/src/modules/mc_pos_control/multicopter_altitude_mode_params.c index 9174b1ef0d83..4f617d009296 100644 --- a/src/modules/mc_pos_control/multicopter_altitude_mode_params.c +++ b/src/modules/mc_pos_control/multicopter_altitude_mode_params.c @@ -73,15 +73,13 @@ PARAM_DEFINE_FLOAT(MPC_MAN_Y_TAU, 0.08f); /** * Altitude reference mode * - * Set to 0 to control height relative to the earth frame origin. This origin may move up and down in - * flight due to sensor drift. - * Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down - * with terrain height variation. Requires a distance to ground sensor. The height controller will - * revert to using height above origin if the distance to ground estimate becomes invalid as indicated - * by the local_position.distance_bottom_valid message being false. - * Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative - * to earth frame origin when moving horizontally. - * The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter. + * Control height + * 0: relative earth frame origin which may drift due to sensors + * 1: relative to ground (requires distance sensor) which changes with terrain variation. + * It will revert to relative earth frame if the distance to ground estimate becomes invalid. + * 2: relative to ground (requires distance sensor) when stationary + * and relative to earth frame when moving horizontally. + * The speed threshold is MPC_HOLD_MAX_XY * * @min 0 * @max 2 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 9fce344319c8..b70bb95a3e2a 100644 --- a/src/modules/mc_pos_control/multicopter_position_mode_params.c +++ b/src/modules/mc_pos_control/multicopter_position_mode_params.c @@ -35,12 +35,12 @@ * Position/Altitude mode variant * * The supported sub-modes are: - * - "Direct velocity": + * Direct velocity: * Sticks directly map to velocity setpoints without smoothing. * Also applies to vertical direction and Altitude mode. * Useful for velocity control tuning. - * - "Acceleration based": - * Sticks map to acceleration and there's a virtual brake drag + * Acceleration based: + * Sticks map to acceleration and there's a virtual brake drag * * @value 0 Direct velocity * @value 4 Acceleration based @@ -114,9 +114,8 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.f); /** * Maximum horizontal and vertical jerk in Position/Altitude mode * - * Limit the maximum jerk of the vehicle (how fast the acceleration can change). - * A lower value leads to smoother motions but limits agility - * (how fast it can change directions or break). + * Limit the maximum jerk (acceleration change) of the vehicle. + * A lower value leads to smoother motions but limits agility. * * Setting this to the maximum value essentially disables the limit. * diff --git a/src/modules/mc_pos_control/multicopter_stabilized_mode_params.c b/src/modules/mc_pos_control/multicopter_stabilized_mode_params.c index 481d9cce66f9..50cf5a653627 100644 --- a/src/modules/mc_pos_control/multicopter_stabilized_mode_params.c +++ b/src/modules/mc_pos_control/multicopter_stabilized_mode_params.c @@ -75,18 +75,16 @@ PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f); /** * Thrust curve mapping in Stabilized Mode * - * This parameter defines how the throttle stick input is mapped to collective thrust - * in Stabilized mode. + * Defines how the throttle stick is mapped to collective thrust in Stabilized mode. * - * In case the default is used ('Rescale to hover thrust'), the stick input is linearly - * rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). + * Rescale to hover thrust: + * Stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). * - * Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful - * in case the hover thrust is very low and the default would lead to too much distortion - * (e.g. if hover thrust is set to 20%, then 80% of the upper thrust range is squeezed into the - * upper half of the stick range). + * No Rescale: + * Directly map the stick 1:1 to the output. + * Can be useful with very low hover thrust which leads to much distortion and the upper half getting sensitive. * - * Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same. + * With MPC_THR_HOVER 0.5 both modes are the same. * * @value 0 Rescale to hover thrust * @value 1 No Rescale