From c9967c748e24b3913f1d0e22d1cdf46341f9ebe0 Mon Sep 17 00:00:00 2001
From: PX4BuildBot <bot@px4.io>
Date: Wed, 9 Oct 2019 06:24:31 +0000
Subject: [PATCH] Update PX4 Firmware metadata Wed Oct  9 06:24:31 UTC 2019

---
 src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index c162d5127..aff5056af 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>
-- 
2.22.0