MPC - Update velocity integrator definition

7779c0bd · bresch · Roman Bapst · d852ce20 · 7779c0bd
Commit 7779c0bd authored 6 years ago by bresch Committed by Roman Bapst 6 years ago
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -214,7 +214,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.09f);
 /**
 * Integral gain for horizontal velocity error
 *
- * Non-zero value allows to resist wind.
+ * Non-zero value allows to eliminate steady state errors in the presence of disturbances like wind.
 *
 * @min 0.0
 * @max 3.0