1 files changed, 22 insertions, 22 deletions
diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c
index 8f923f5a1..6525b70f5 100644
--- a/apps/examples/control_demo/params.c
+++ b/apps/examples/control_demo/params.c
@@ -14,50 +14,50 @@ PARAM_DEFINE_FLOAT(FWB_R_LP, 300.0f); // yaw rate low pass cut freq
 PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass
 
 // stabilization mode
-PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.5f); // roll rate 2 aileron
-PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.5f); // pitch rate 2 elevator
-PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.2f); // yaw rate 2 rudder
+PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.3f); // roll rate 2 aileron
+PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator
+PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder
 
 //  psi -> phi -> p
 PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 0.5f);      // heading 2 roll
 PARAM_DEFINE_FLOAT(FWB_PHI2P, 1.0f);        // roll to roll rate
-PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.5f);  // roll limit, 28 deg
+PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.3f);  // roll limit, 28 deg
 
 // velocity -> theta
-PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.2f);
-PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f);
-PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f);
+PARAM_DEFINE_FLOAT(FWB_V2THE_P, 1.0f);      // velocity to pitch angle PID, prop gain
+PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f);      // integral gain
+PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f);      // derivative gain
+PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f);   // derivative low-pass
+PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f);  // integrator wind up guard
+PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f);     // the max commanded pitch angle
+PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f);      // the min commanded pitch angle
 
 
 // theta -> q
-PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f);
+PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f);      // pitch angle to pitch-rate PID
 PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f);
 PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f);
 PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f);
 PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f);
 
 //  h -> thr
-PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f);     // altitude to throttle PID
 PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.0f);
 PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.0f);
 PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 0.0f);
 PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f);
 
 // crosstrack
-PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f); // 90 deg
-PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.002f);
+PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f);  // cross-track to yaw angle limit 90 deg
+PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.005f);     // cross-track to yaw angle gain
 
 // speed command
-PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f);
-PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f);
-PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f);
+PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f);       // minimum commanded velocity
+PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f);       // commanded velocity
+PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f);       // maximum commanded velocity
 
 // trim
-PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.005f);
-PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f);
-PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.81f);
+PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f);     // trim aileron, normalized (-1,1)
+PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.005f);   // trim elevator (-1,1)
+PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f);     // trim rudder (-1,1)
+PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f);     // trim throttle (0,1)