From 4b2d01dea1ee3d496e405853007c0d7064453d58 Mon Sep 17 00:00:00 2001
From: Mathieu Bresciani <brescianimathieu@gmail.com>
Date: Wed, 15 May 2019 17:17:32 +0200
Subject: [PATCH] MPC parameters - Update from Matthias' comments

Co-Authored-By: Matthias Grob <maetugr@gmail.com>
---
 src/modules/mc_pos_control/mc_pos_control_params.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index e7e3ebfba2..96ea63860b 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -444,7 +444,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 10.0f);
 /**
  * Acceleration for auto and for manual
  *
- * Note: In manual, this parameter is only used in MPC_POS_MODE 1 and 2
+ * Note: In manual, this parameter is only used in MPC_POS_MODE 1.
  *
  * @unit m/s/s
  * @min 2.0
@@ -459,7 +459,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 5.0f);
 /**
  * Slow horizontal manual deceleration for manual mode
  *
- * Note: This is only used when MPC_POS_MODE is set to 1 or 2.
+ * Note: This is only used when MPC_POS_MODE is set to 1.
  *
  * @unit m/s/s
  * @min 0.5
@@ -518,7 +518,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 10.0f);
  *
  * Setting this to the maximum value essentially disables the limit.
  *
- * Note: This is only used when MPC_POS_MODE is set to a smoothing mode.
+ * Note: This is only used when MPC_POS_MODE is set to a smoothing mode 1 or 3.
  *
  * @unit m/s/s/s
  * @min 0.5
@@ -541,7 +541,7 @@ PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 20.0f);
  *
  * Set this to zero to use a fixed maximum jerk limit (MPC_JERK_MAX).
  *
- * Note: This is only used when MPC_POS_MODE is set to 1 or 2.
+ * Note: This is only used when MPC_POS_MODE is set to 1.
  *
  * @unit m/s/s/s
  * @min 0
-- 
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