diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp index e385526376..463498600e 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp @@ -35,6 +35,12 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = { // @Increment: 0.01 // @User: Standard + // @Param: RAT_RLL_ILMI + // @DisplayName: Roll axis rate controller I-term leak minimum + // @Description: Point below which I-term will not leak down + // @Range: 0 1 + // @User: Advanced + // @Param: RAT_RLL_D // @DisplayName: Roll axis rate controller D gain // @Description: Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate @@ -42,7 +48,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = { // @Increment: 0.001 // @User: Standard - // @Param: RAT_RLL_FF + // @Param: RAT_RLL_VFF // @DisplayName: Roll axis rate controller feed forward // @Description: Roll axis rate controller feed forward // @Range: 0 0.5 @@ -95,6 +101,12 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = { // @Increment: 0.01 // @User: Standard + // @Param: RAT_PIT_ILMI + // @DisplayName: Pitch axis rate controller I-term leak minimum + // @Description: Point below which I-term will not leak down + // @Range: 0 1 + // @User: Advanced + // @Param: RAT_PIT_D // @DisplayName: Pitch axis rate controller D gain // @Description: Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate @@ -102,7 +114,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = { // @Increment: 0.001 // @User: Standard - // @Param: RAT_PIT_FF + // @Param: RAT_PIT_VFF // @DisplayName: Pitch axis rate controller feed forward // @Description: Pitch axis rate controller feed forward // @Range: 0 0.5 @@ -155,6 +167,12 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = { // @Increment: 0.01 // @User: Standard + // @Param: RAT_YAW_ILMI + // @DisplayName: Yaw axis rate controller I-term leak minimum + // @Description: Point below which I-term will not leak down + // @Range: 0 1 + // @User: Advanced + // @Param: RAT_YAW_D // @DisplayName: Yaw axis rate controller D gain // @Description: Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate @@ -162,7 +180,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = { // @Increment: 0.001 // @User: Standard - // @Param: RAT_YAW_FF + // @Param: RAT_YAW_VFF // @DisplayName: Yaw axis rate controller feed forward // @Description: Yaw axis rate controller feed forward // @Range: 0 0.5