AC_AttitudeControl: Allow zero gains for Sub

Close bluerobotics/ardusub#70
James-T1 · Apr 25, 2018 · 6ae1bf4 · 6ae1bf4
1 parent d07f8aa
commit 6ae1bf4
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Showing 2 changed files with 9 additions and 6 deletions.
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -76,20 +76,23 @@ const AP_Param::GroupInfo AC_AttitudeControl::var_info[] = {
     // @DisplayName: Roll axis angle controller P gain
     // @Description: Roll axis angle controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate
     // @Range: 3.000 12.000
+    // @Range{Sub}: 0.0 12.000
     // @User: Standard
     AP_SUBGROUPINFO(_p_angle_roll, "ANG_RLL_", 13, AC_AttitudeControl, AC_P),
 
     // @Param: ANG_PIT_P
     // @DisplayName: Pitch axis angle controller P gain
     // @Description: Pitch axis angle controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate
     // @Range: 3.000 12.000
+    // @Range{Sub}: 0.0 12.000
     // @User: Standard
     AP_SUBGROUPINFO(_p_angle_pitch, "ANG_PIT_", 14, AC_AttitudeControl, AC_P),
 
     // @Param: ANG_YAW_P
     // @DisplayName: Yaw axis angle controller P gain
     // @Description: Yaw axis angle controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate
     // @Range: 3.000 6.000
+    // @Range{Sub}: 0.0 6.000
     // @User: Standard
     AP_SUBGROUPINFO(_p_angle_yaw, "ANG_YAW_", 15, AC_AttitudeControl, AC_P),
 

diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
@@ -10,14 +10,14 @@ const AP_Param::GroupInfo AC_AttitudeControl_Sub::var_info[] = {
     // @Param: RAT_RLL_P
     // @DisplayName: Roll axis rate controller P gain
     // @Description: Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output
-    // @Range: 0.08 0.30
+    // @Range: 0.0 0.30
     // @Increment: 0.005
     // @User: Standard
 
     // @Param: RAT_RLL_I
     // @DisplayName: Roll axis rate controller I gain
     // @Description: Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate
-    // @Range: 0.01 0.5
+    // @Range: 0.0 0.5
     // @Increment: 0.01
     // @User: Standard
 
@@ -55,14 +55,14 @@ const AP_Param::GroupInfo AC_AttitudeControl_Sub::var_info[] = {
     // @Param: RAT_PIT_P
     // @DisplayName: Pitch axis rate controller P gain
     // @Description: Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
-    // @Range: 0.08 0.30
+    // @Range: 0.0 0.30
     // @Increment: 0.005
     // @User: Standard
 
     // @Param: RAT_PIT_I
     // @DisplayName: Pitch axis rate controller I gain
     // @Description: Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate
-    // @Range: 0.01 0.5
+    // @Range: 0.0 0.5
     // @Increment: 0.01
     // @User: Standard
 
@@ -100,14 +100,14 @@ const AP_Param::GroupInfo AC_AttitudeControl_Sub::var_info[] = {
     // @Param: RAT_YAW_P
     // @DisplayName: Yaw axis rate controller P gain
     // @Description: Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output
-    // @Range: 0.10 0.50
+    // @Range: 0.0 0.50
     // @Increment: 0.005
     // @User: Standard
 
     // @Param: RAT_YAW_I
     // @DisplayName: Yaw axis rate controller I gain
     // @Description: Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate
-    // @Range: 0.010 0.05
+    // @Range: 0.0 0.05
     // @Increment: 0.01
     // @User: Standard