From 52a10716cd6832f4d17565362a057e485bba02c7 Mon Sep 17 00:00:00 2001
From: PX4BuildBot <bot@px4.io>
Date: Sat, 28 Mar 2020 17:08:26 +0000
Subject: [PATCH] Update PX4 Firmware metadata Sat Mar 28 17:08:25 UTC 2020

---
 src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 4d3590158..02a58761f 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -4534,6 +4534,15 @@ if required by the gimbal (only in AUX output mode)</short_desc>
       <decimal>2</decimal>
       <increment>0.1</increment>
     </parameter>
+    <parameter default="0.4" name="MC_YAW_WEIGHT" type="FLOAT">
+      <short_desc>Yaw weight</short_desc>
+      <long_desc>A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control. Deprioritizing yaw is necessary because multicopters have much less control authority in yaw compared to the other axes and it makes sense because yaw is not critical for stable hovering or 3D navigation. For yaw control tuning use MC_YAW_P. This ratio has no inpact on the yaw gain.</long_desc>
+      <min>0.0</min>
+      <max>1.0</max>
+      <unit>1/s</unit>
+      <decimal>2</decimal>
+      <increment>0.1</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>
-- 
2.22.0