Documentation - improved GCS parameter readablity (PX4#23376)

improved GCS parameter description Co-authored-by: Hamish Willee <[email protected]> Co-authored-by: Silvan Fuhrer <[email protected]>
iq-motion-control · Aug 21, 2024 · 84b71f1 · 84b71f1
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Showing 3 changed files with 9 additions and 6 deletions.
diff --git a/src/modules/mc_pos_control/multicopter_altitude_mode_params.c b/src/modules/mc_pos_control/multicopter_altitude_mode_params.c
@@ -95,7 +95,7 @@ PARAM_DEFINE_INT32(MPC_ALT_MODE, 2);
 /**
  * Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
  *
- * Only used with MPC_POS_MODE 0 or MPC_ALT_MODE 2
+ * Only used with MPC_POS_MODE Direct velocity or MPC_ALT_MODE 2
  *
  * @unit m/s
  * @min 0

diff --git a/src/modules/mc_pos_control/multicopter_autonomous_params.c b/src/modules/mc_pos_control/multicopter_autonomous_params.c
@@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.5f);
 /**
  * Acceleration for autonomous and for manual modes
  *
- * When piloting manually, this parameter is only used in MPC_POS_MODE 4.
+ * When piloting manually, this parameter is only used in MPC_POS_MODE Acceleration based.
  *
  * @unit m/s^2
  * @min 2

diff --git a/src/modules/mc_pos_control/multicopter_position_mode_params.c b/src/modules/mc_pos_control/multicopter_position_mode_params.c
@@ -35,12 +35,15 @@
  * Position/Altitude mode variant
  *
  * The supported sub-modes are:
- * 0 Sticks directly map to velocity setpoints without smoothing.
+ * - "Direct velocity":
+ *   Sticks directly map to velocity setpoints without smoothing.
  *   Also applies to vertical direction and Altitude mode.
  *   Useful for velocity control tuning.
- * 3 Sticks map to velocity but with maximum acceleration and jerk limits based on
+ * - "Smoothed velocity":
+ *   Sticks map to velocity but with maximum acceleration and jerk limits based on
  *   jerk optimized trajectory generator (different algorithm than 1).
- * 4 Sticks map to acceleration and there's a virtual brake drag
+ *  - "Acceleration based":
+ *  Sticks map to acceleration and there's a virtual brake drag
  *
  * @value 0 Direct velocity
  * @value 3 Smoothed velocity
@@ -122,7 +125,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.f);
  *
  * Setting this to the maximum value essentially disables the limit.
  *
- * Only used with smooth MPC_POS_MODE 3 and 4.
+ * Only used with smooth MPC_POS_MODE Smoothed velocity and Acceleration based.
  *
  * @unit m/s^3
  * @min 0.5