mc_pos_control_params: clarify maximum vertical velocity parameters

PX4 · Jun 22, 2023 · b34df9d · b34df9d
1 parent 6f16002
commit b34df9d
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Showing 2 changed files with 34 additions and 28 deletions.
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
@@ -46,6 +46,40 @@
  */
 PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.f);
 
+/**
+ * Maximum ascent velocity
+ *
+ * Absolute maximum for all climb rate controlled modes.
+ * In manually piloted modes full stick deflection commands this velocity.
+ *
+ * For default autonomous velocity see MPC_Z_V_AUTO_UP
+ *
+ * @unit m/s
+ * @min 0.5
+ * @max 8
+ * @increment 0.1
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.f);
+
+/**
+ * Maximum descent velocity
+ *
+ * Absolute maximum for all climb rate controlled modes.
+ * In manually piloted modes full stick deflection commands this velocity.
+ *
+ * For default autonomous velocity see MPC_Z_V_AUTO_UP
+ *
+ * @unit m/s
+ * @min 0.5
+ * @max 4
+ * @increment 0.1
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f);
+
 /**
  * Maximum tilt angle in air
  *

diff --git a/src/modules/mc_pos_control/multicopter_position_mode_params.c b/src/modules/mc_pos_control/multicopter_position_mode_params.c
@@ -96,34 +96,6 @@ PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.f);
  */
 PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.f);
 
-/**
- * Maximum ascent velocity in manually piloted climb rate controlled modes and offboard
- *
- * For autonomous modes see MPC_Z_V_AUTO_UP
- *
- * @unit m/s
- * @min 0.5
- * @max 8
- * @increment 0.1
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.f);
-
-/**
- * Maximum descent velocity in manually piloted climb rate controlled modes and offboard
- *
- * For autonomous modes, see MPC_Z_V_AUTO_DN
- *
- * @unit m/s
- * @min 0.5
- * @max 4
- * @increment 0.1
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f);
-
 /**
  * Maximum horizontal acceleration
  *