diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index c162d512751845989bb74c84c89c03bca43fccb1..aff5056af4ece4bd461fe61d7572dce606fce09d 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -5713,8 +5713,8 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc> <boolean /> </parameter> <parameter default="0.0" name="THR_MDL_FAC" type="FLOAT"> - <short_desc>Thrust to PWM model parameter</short_desc> - <long_desc>Parameter used to model the relationship between static thrust and motor input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2</long_desc> + <short_desc>Thrust to motor control signal model parameter</short_desc> + <long_desc>Parameter used to model the nonlinear relationship between motor control signal (e.g. PWM) and static thrust. The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal, where rel_thrust is the normalized thrust between 0 and 1, and rel_signal is the relative motor control signal between 0 and 1.</long_desc> <min>0.0</min> <max>1.0</max> </parameter>