MPC_ACC_DECOUPLE - better description (#23518)

hamishwillee · web-flow · commit f3a8d05f8c2a · 2024-08-14T12:18:14.000+10:00
diff --git a/src/modules/mc_pos_control/multicopter_position_control_limits_params.c b/src/modules/mc_pos_control/multicopter_position_control_limits_params.c
@@ -143,6 +143,8 @@ PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.f);
  * Acceleration to tilt coupling
  *
  * Set to decouple tilt from vertical acceleration.
+ * This provides smoother flight but slightly worse tracking in position and auto modes.
+ * Unset if accurate position tracking during dynamic maneuvers is more important than a smooth flight.
  *
  * @boolean
  * @group Multicopter Position Control

Original file line number	Diff line number	Diff line change
`@@ -143,6 +143,8 @@ PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.f);`
`143`	`143`	`* Acceleration to tilt coupling`
`144`	`144`	`*`
`145`	`145`	`* Set to decouple tilt from vertical acceleration.`
	`146`	`+ * This provides smoother flight but slightly worse tracking in position and auto modes.`
	`147`	`+ * Unset if accurate position tracking during dynamic maneuvers is more important than a smooth flight.`
`146`	`148`	`*`
`147`	`149`	`* @boolean`
`148`	`150`	`* @group Multicopter Position Control`