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Commit 48531e2d authored by PX4BuildBot's avatar PX4BuildBot
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Update PX4 Firmware metadata Tue Nov 19 22:20:18 UTC 2019

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src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
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......@@ -4267,102 +4267,6 @@ if required by the gimbal (only in AUX output mode)</short_desc>
</parameter>
</group>
<group name="Multicopter Attitude Control">
<parameter default="0.69" name="MC_ACRO_EXPO" type="FLOAT">
<short_desc>Acro mode Expo factor for Roll and Pitch</short_desc>
<long_desc>Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve</long_desc>
<min>0</min>
<max>1</max>
<decimal>2</decimal>
</parameter>
<parameter default="0.69" name="MC_ACRO_EXPO_Y" type="FLOAT">
<short_desc>Acro mode Expo factor for Yaw</short_desc>
<long_desc>Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve</long_desc>
<min>0</min>
<max>1</max>
<decimal>2</decimal>
</parameter>
<parameter default="720.0" name="MC_ACRO_P_MAX" type="FLOAT">
<short_desc>Max acro pitch rate
default: 2 turns per second</short_desc>
<min>0.0</min>
<max>1800.0</max>
<unit>deg/s</unit>
<decimal>1</decimal>
<increment>5</increment>
</parameter>
<parameter default="720.0" name="MC_ACRO_R_MAX" type="FLOAT">
<short_desc>Max acro roll rate
default: 2 turns per second</short_desc>
<min>0.0</min>
<max>1800.0</max>
<unit>deg/s</unit>
<decimal>1</decimal>
<increment>5</increment>
</parameter>
<parameter default="0.7" name="MC_ACRO_SUPEXPO" type="FLOAT">
<short_desc>Acro mode SuperExpo factor for Roll and Pitch</short_desc>
<long_desc>SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect</long_desc>
<min>0</min>
<max>0.95</max>
<decimal>2</decimal>
</parameter>
<parameter default="0.7" name="MC_ACRO_SUPEXPOY" type="FLOAT">
<short_desc>Acro mode SuperExpo factor for Yaw</short_desc>
<long_desc>SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect</long_desc>
<min>0</min>
<max>0.95</max>
<decimal>2</decimal>
</parameter>
<parameter default="540.0" name="MC_ACRO_Y_MAX" type="FLOAT">
<short_desc>Max acro yaw rate
default 1.5 turns per second</short_desc>
<min>0.0</min>
<max>1800.0</max>
<unit>deg/s</unit>
<decimal>1</decimal>
<increment>5</increment>
</parameter>
<parameter default="0" name="MC_BAT_SCALE_EN" type="INT32">
<short_desc>Battery power level scaler</short_desc>
<long_desc>This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.</long_desc>
</parameter>
<parameter default="0." name="MC_DTERM_CUTOFF" type="FLOAT">
<short_desc>Cutoff frequency for the low pass filter on the D-term in the rate controller</short_desc>
<long_desc>The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to decrease the driver-level filtering, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.</long_desc>
<min>0</min>
<max>1000</max>
<unit>Hz</unit>
<decimal>0</decimal>
<increment>10</increment>
</parameter>
<parameter default="0.003" name="MC_PITCHRATE_D" type="FLOAT">
<short_desc>Pitch rate D gain</short_desc>
<long_desc>Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
<min>0.0</min>
<decimal>4</decimal>
<increment>0.0005</increment>
</parameter>
<parameter default="0.0" name="MC_PITCHRATE_FF" type="FLOAT">
<short_desc>Pitch rate feedforward</short_desc>
<long_desc>Improves tracking performance.</long_desc>
<min>0.0</min>
<decimal>4</decimal>
</parameter>
<parameter default="0.2" name="MC_PITCHRATE_I" type="FLOAT">
<short_desc>Pitch rate I gain</short_desc>
<long_desc>Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
<min>0.0</min>
<decimal>3</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="1.0" name="MC_PITCHRATE_K" type="FLOAT">
<short_desc>Pitch rate controller gain</short_desc>
<long_desc>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error + MC_PITCHRATE_I * error_integral + MC_PITCHRATE_D * error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.</long_desc>
<min>0.0</min>
<max>5.0</max>
<decimal>4</decimal>
<increment>0.0005</increment>
</parameter>
<parameter default="220.0" name="MC_PITCHRATE_MAX" type="FLOAT">
<short_desc>Max pitch rate</short_desc>
<long_desc>Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.</long_desc>
......@@ -4372,14 +4276,6 @@ default 1.5 turns per second</short_desc>
<decimal>1</decimal>
<increment>5</increment>
</parameter>
<parameter default="0.15" name="MC_PITCHRATE_P" type="FLOAT">
<short_desc>Pitch rate P gain</short_desc>
<long_desc>Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
<min>0.0</min>
<max>0.6</max>
<decimal>3</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="6.5" name="MC_PITCH_P" type="FLOAT">
<short_desc>Pitch P gain</short_desc>
<long_desc>Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
......@@ -4389,13 +4285,6 @@ default 1.5 turns per second</short_desc>
<decimal>2</decimal>
<increment>0.1</increment>
</parameter>
<parameter default="0.30" name="MC_PR_INT_LIM" type="FLOAT">
<short_desc>Pitch rate integrator limit</short_desc>
<long_desc>Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.</long_desc>
<min>0.0</min>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="0.8" name="MC_RATT_TH" type="FLOAT">
<short_desc>Threshold for Rattitude mode</short_desc>
<long_desc>Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints</long_desc>
......@@ -4404,35 +4293,6 @@ default 1.5 turns per second</short_desc>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="0.003" name="MC_ROLLRATE_D" type="FLOAT">
<short_desc>Roll rate D gain</short_desc>
<long_desc>Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
<min>0.0</min>
<max>0.01</max>
<decimal>4</decimal>
<increment>0.0005</increment>
</parameter>
<parameter default="0.0" name="MC_ROLLRATE_FF" type="FLOAT">
<short_desc>Roll rate feedforward</short_desc>
<long_desc>Improves tracking performance.</long_desc>
<min>0.0</min>
<decimal>4</decimal>
</parameter>
<parameter default="0.2" name="MC_ROLLRATE_I" type="FLOAT">
<short_desc>Roll rate I gain</short_desc>
<long_desc>Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
<min>0.0</min>
<decimal>3</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="1.0" name="MC_ROLLRATE_K" type="FLOAT">
<short_desc>Roll rate controller gain</short_desc>
<long_desc>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error + MC_ROLLRATE_I * error_integral + MC_ROLLRATE_D * error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.</long_desc>
<min>0.0</min>
<max>5.0</max>
<decimal>4</decimal>
<increment>0.0005</increment>
</parameter>
<parameter default="220.0" name="MC_ROLLRATE_MAX" type="FLOAT">
<short_desc>Max roll rate</short_desc>
<long_desc>Limit for roll rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.</long_desc>
......@@ -4442,14 +4302,6 @@ default 1.5 turns per second</short_desc>
<decimal>1</decimal>
<increment>5</increment>
</parameter>
<parameter default="0.15" name="MC_ROLLRATE_P" type="FLOAT">
<short_desc>Roll rate P gain</short_desc>
<long_desc>Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
<min>0.0</min>
<max>0.5</max>
<decimal>3</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="6.5" name="MC_ROLL_P" type="FLOAT">
<short_desc>Roll P gain</short_desc>
<long_desc>Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
......@@ -4459,42 +4311,6 @@ default 1.5 turns per second</short_desc>
<decimal>2</decimal>
<increment>0.1</increment>
</parameter>
<parameter default="0.30" name="MC_RR_INT_LIM" type="FLOAT">
<short_desc>Roll rate integrator limit</short_desc>
<long_desc>Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.</long_desc>
<min>0.0</min>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="0.0" name="MC_YAWRATE_D" type="FLOAT">
<short_desc>Yaw rate D gain</short_desc>
<long_desc>Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
<min>0.0</min>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="0.0" name="MC_YAWRATE_FF" type="FLOAT">
<short_desc>Yaw rate feedforward</short_desc>
<long_desc>Improves tracking performance.</long_desc>
<min>0.0</min>
<decimal>4</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="0.1" name="MC_YAWRATE_I" type="FLOAT">
<short_desc>Yaw rate I gain</short_desc>
<long_desc>Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
<min>0.0</min>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="1.0" name="MC_YAWRATE_K" type="FLOAT">
<short_desc>Yaw rate controller gain</short_desc>
<long_desc>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_YAWRATE_K * (MC_YAWRATE_P * error + MC_YAWRATE_I * error_integral + MC_YAWRATE_D * error_derivative) Set MC_YAWRATE_P=1 to implement a PID in the ideal form. Set MC_YAWRATE_K=1 to implement a PID in the parallel form.</long_desc>
<min>0.0</min>
<max>5.0</max>
<decimal>4</decimal>
<increment>0.0005</increment>
</parameter>
<parameter default="200.0" name="MC_YAWRATE_MAX" type="FLOAT">
<short_desc>Max yaw rate</short_desc>
<min>0.0</min>
......@@ -4503,14 +4319,6 @@ default 1.5 turns per second</short_desc>
<decimal>1</decimal>
<increment>5</increment>
</parameter>
<parameter default="0.2" name="MC_YAWRATE_P" type="FLOAT">
<short_desc>Yaw rate P gain</short_desc>
<long_desc>Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
<min>0.0</min>
<max>0.6</max>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="2.8" name="MC_YAW_P" type="FLOAT">
<short_desc>Yaw P gain</short_desc>
<long_desc>Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
......@@ -4520,13 +4328,6 @@ default 1.5 turns per second</short_desc>
<decimal>2</decimal>
<increment>0.1</increment>
</parameter>
<parameter default="0.30" name="MC_YR_INT_LIM" type="FLOAT">
<short_desc>Yaw rate integrator limit</short_desc>
<long_desc>Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.</long_desc>
<min>0.0</min>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="45.0" name="MPC_YAWRAUTO_MAX" type="FLOAT">
<short_desc>Max yaw rate in auto mode</short_desc>
<long_desc>Limit the rate of change of the yaw setpoint in autonomous mode to avoid large control output and mixer saturation.</long_desc>
......@@ -4967,6 +4768,207 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
<unit>deg/s</unit>
</parameter>
</group>
<group name="Multicopter Rate Control">
<parameter default="0.69" name="MC_ACRO_EXPO" type="FLOAT">
<short_desc>Acro mode Expo factor for Roll and Pitch</short_desc>
<long_desc>Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve</long_desc>
<min>0</min>
<max>1</max>
<decimal>2</decimal>
</parameter>
<parameter default="0.69" name="MC_ACRO_EXPO_Y" type="FLOAT">
<short_desc>Acro mode Expo factor for Yaw</short_desc>
<long_desc>Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve</long_desc>
<min>0</min>
<max>1</max>
<decimal>2</decimal>
</parameter>
<parameter default="720.0" name="MC_ACRO_P_MAX" type="FLOAT">
<short_desc>Max acro pitch rate
default: 2 turns per second</short_desc>
<min>0.0</min>
<max>1800.0</max>
<unit>deg/s</unit>
<decimal>1</decimal>
<increment>5</increment>
</parameter>
<parameter default="720.0" name="MC_ACRO_R_MAX" type="FLOAT">
<short_desc>Max acro roll rate
default: 2 turns per second</short_desc>
<min>0.0</min>
<max>1800.0</max>
<unit>deg/s</unit>
<decimal>1</decimal>
<increment>5</increment>
</parameter>
<parameter default="0.7" name="MC_ACRO_SUPEXPO" type="FLOAT">
<short_desc>Acro mode SuperExpo factor for Roll and Pitch</short_desc>
<long_desc>SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect</long_desc>
<min>0</min>
<max>0.95</max>
<decimal>2</decimal>
</parameter>
<parameter default="0.7" name="MC_ACRO_SUPEXPOY" type="FLOAT">
<short_desc>Acro mode SuperExpo factor for Yaw</short_desc>
<long_desc>SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect</long_desc>
<min>0</min>
<max>0.95</max>
<decimal>2</decimal>
</parameter>
<parameter default="540.0" name="MC_ACRO_Y_MAX" type="FLOAT">
<short_desc>Max acro yaw rate
default 1.5 turns per second</short_desc>
<min>0.0</min>
<max>1800.0</max>
<unit>deg/s</unit>
<decimal>1</decimal>
<increment>5</increment>
</parameter>
<parameter default="0" name="MC_BAT_SCALE_EN" type="INT32">
<short_desc>Battery power level scaler</short_desc>
<long_desc>This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.</long_desc>
</parameter>
<parameter default="0." name="MC_DTERM_CUTOFF" type="FLOAT">
<short_desc>Cutoff frequency for the low pass filter on the D-term in the rate controller</short_desc>
<long_desc>The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to decrease the driver-level filtering, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.</long_desc>
<min>0</min>
<max>1000</max>
<unit>Hz</unit>
<decimal>0</decimal>
<increment>10</increment>
</parameter>
<parameter default="0.003" name="MC_PITCHRATE_D" type="FLOAT">
<short_desc>Pitch rate D gain</short_desc>
<long_desc>Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
<min>0.0</min>
<decimal>4</decimal>
<increment>0.0005</increment>
</parameter>
<parameter default="0.0" name="MC_PITCHRATE_FF" type="FLOAT">
<short_desc>Pitch rate feedforward</short_desc>
<long_desc>Improves tracking performance.</long_desc>
<min>0.0</min>
<decimal>4</decimal>
</parameter>
<parameter default="0.2" name="MC_PITCHRATE_I" type="FLOAT">
<short_desc>Pitch rate I gain</short_desc>
<long_desc>Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
<min>0.0</min>
<decimal>3</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="1.0" name="MC_PITCHRATE_K" type="FLOAT">
<short_desc>Pitch rate controller gain</short_desc>
<long_desc>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error + MC_PITCHRATE_I * error_integral + MC_PITCHRATE_D * error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.</long_desc>
<min>0.0</min>
<max>5.0</max>
<decimal>4</decimal>
<increment>0.0005</increment>
</parameter>
<parameter default="0.15" name="MC_PITCHRATE_P" type="FLOAT">
<short_desc>Pitch rate P gain</short_desc>
<long_desc>Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
<min>0.0</min>
<max>0.6</max>
<decimal>3</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="0.30" name="MC_PR_INT_LIM" type="FLOAT">
<short_desc>Pitch rate integrator limit</short_desc>
<long_desc>Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.</long_desc>
<min>0.0</min>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="0.003" name="MC_ROLLRATE_D" type="FLOAT">
<short_desc>Roll rate D gain</short_desc>
<long_desc>Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
<min>0.0</min>
<max>0.01</max>
<decimal>4</decimal>
<increment>0.0005</increment>
</parameter>
<parameter default="0.0" name="MC_ROLLRATE_FF" type="FLOAT">
<short_desc>Roll rate feedforward</short_desc>
<long_desc>Improves tracking performance.</long_desc>
<min>0.0</min>
<decimal>4</decimal>
</parameter>
<parameter default="0.2" name="MC_ROLLRATE_I" type="FLOAT">
<short_desc>Roll rate I gain</short_desc>
<long_desc>Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
<min>0.0</min>
<decimal>3</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="1.0" name="MC_ROLLRATE_K" type="FLOAT">
<short_desc>Roll rate controller gain</short_desc>
<long_desc>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error + MC_ROLLRATE_I * error_integral + MC_ROLLRATE_D * error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.</long_desc>
<min>0.0</min>
<max>5.0</max>
<decimal>4</decimal>
<increment>0.0005</increment>
</parameter>
<parameter default="0.15" name="MC_ROLLRATE_P" type="FLOAT">
<short_desc>Roll rate P gain</short_desc>
<long_desc>Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
<min>0.0</min>
<max>0.5</max>
<decimal>3</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="0.30" name="MC_RR_INT_LIM" type="FLOAT">
<short_desc>Roll rate integrator limit</short_desc>
<long_desc>Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.</long_desc>
<min>0.0</min>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="0.0" name="MC_YAWRATE_D" type="FLOAT">
<short_desc>Yaw rate D gain</short_desc>
<long_desc>Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
<min>0.0</min>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="0.0" name="MC_YAWRATE_FF" type="FLOAT">
<short_desc>Yaw rate feedforward</short_desc>
<long_desc>Improves tracking performance.</long_desc>
<min>0.0</min>
<decimal>4</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="0.1" name="MC_YAWRATE_I" type="FLOAT">
<short_desc>Yaw rate I gain</short_desc>
<long_desc>Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
<min>0.0</min>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="1.0" name="MC_YAWRATE_K" type="FLOAT">
<short_desc>Yaw rate controller gain</short_desc>
<long_desc>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_YAWRATE_K * (MC_YAWRATE_P * error + MC_YAWRATE_I * error_integral + MC_YAWRATE_D * error_derivative) Set MC_YAWRATE_P=1 to implement a PID in the ideal form. Set MC_YAWRATE_K=1 to implement a PID in the parallel form.</long_desc>
<min>0.0</min>
<max>5.0</max>
<decimal>4</decimal>
<increment>0.0005</increment>
</parameter>
<parameter default="0.2" name="MC_YAWRATE_P" type="FLOAT">
<short_desc>Yaw rate P gain</short_desc>
<long_desc>Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
<min>0.0</min>
<max>0.6</max>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter default="0.30" name="MC_YR_INT_LIM" type="FLOAT">
<short_desc>Yaw rate integrator limit</short_desc>
<long_desc>Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.</long_desc>
<min>0.0</min>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
</group>
<group name="OSD">
<parameter default="0" name="OSD_ATXXXX_CFG" type="INT32">
<short_desc>Enable/Disable the ATXXX OSD Chip</short_desc>
......
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