From 784883af2249dabbea526b1d0f6c2dc5bacef86f Mon Sep 17 00:00:00 2001
From: tumbili <roman@px4.io>
Date: Thu, 9 Jun 2016 17:23:02 +0200
Subject: [PATCH] added parameters to allow scaling controls in full manual
 mode for fixed wings

---
 .../fw_att_control/fw_att_control_params.c    | 43 +++++++++++++++++++
 1 file changed, 43 insertions(+)

diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c
index 80fe1c6228..ebc6547c96 100644
--- a/src/modules/fw_att_control/fw_att_control_params.c
+++ b/src/modules/fw_att_control/fw_att_control_params.c
@@ -518,3 +518,46 @@ PARAM_DEFINE_FLOAT(FW_FLAPERON_SCL, 0.0f);
  * @group FW Attitude Control
  */
 PARAM_DEFINE_INT32(FW_ARSP_MODE, 0);
+
+/**
+ * Manual roll scale
+ *
+ * Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows
+ * to adjust the throws of the control surfaces.
+ *
+ * @unit norm
+ * @min 0.0
+ * @max 1.0
+ * @decimal 2
+ * @increment 0.01
+ * @group FW Attitude Control
+ */
+PARAM_DEFINE_FLOAT(FW_MAN_R_SC, 1.0f);
+
+/**
+ * Manual pitch scale
+ *
+ * Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows
+ * to adjust the throws of the control surfaces.
+ *
+ * @unit norm
+ * @min 0.0
+ * @decimal 2
+ * @increment 0.01
+ * @group FW Attitude Control
+ */
+PARAM_DEFINE_FLOAT(FW_MAN_P_SC, 1.0f);
+
+/**
+ * Manual yaw scale
+ *
+ * Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows
+ * to adjust the throws of the control surfaces.
+ *
+ * @unit norm
+ * @min 0.0
+ * @decimal 2
+ * @increment 0.01
+ * @group FW Attitude Control
+ */
+PARAM_DEFINE_FLOAT(FW_MAN_Y_SC, 1.0f);