From a573371c416249c4fcec628e2e6c4941edbd5924 Mon Sep 17 00:00:00 2001
From: PX4BuildBot <bot@px4.io>
Date: Tue, 16 Jul 2019 08:39:28 +0000
Subject: [PATCH] Update PX4 Firmware metadata Tue Jul 16 08:39:28 UTC 2019

---
 .../PX4/PX4ParameterFactMetaData.xml          | 24 +++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 1c660c57a..efd624514 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -4148,6 +4148,14 @@ default 1.5 turns per second</short_desc>
       <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>
@@ -4210,6 +4218,14 @@ default 1.5 turns per second</short_desc>
       <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>
@@ -4312,6 +4328,14 @@ default 1.5 turns per second</short_desc>
       <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>
-- 
2.22.0