AP_Motors:expand heli tail param metadata

ArduPilot · Nov 26, 2023 · 17cb6c4 · 17cb6c4
1 parent 4ffcc56
commit 17cb6c4
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -28,7 +28,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
 
     // @Param: TAIL_TYPE
     // @DisplayName: Tail Type
-    // @Description: Tail type selection.  Simpler yaw controller used if external gyro is selected. Direct Drive Variable Pitch is used for tails that have a motor that is governed at constant speed by an ESC.  Tail pitch is still accomplished with a servo.  Direct Drive Fixed Pitch (DDFP) CW is used for helicopters with a rotor that spins clockwise when viewed from above. Direct Drive Fixed Pitch (DDFP) CCW is used for helicopters with a rotor that spins counter clockwise when viewed from above. In both DDFP cases, no servo is used for the tail and the tail motor esc is controlled by the yaw axis.
+    // @Description: Tail type selection.  Servo Only uses tail rotor pitch to provide yaw stabilization via an output assigned to Motor4. A simple yaw controller used if Servo with External gyro is selected. Direct Drive Fixed Pitch (DDFP) CW is used for helicopters with a rotor that spins clockwise when viewed from above. Direct Drive Fixed Pitch (DDFP) CCW is used for helicopters with a rotor that spins counter clockwise when viewed from above. In both DDFP cases, no servo is used for the tail and the tail motor esc on HeliTailRSC output is controlled by the yaw axis. Direct Drive Variable Pitch(DDVP) is used for tails that have a motor that is governed at constant speed by an ESC connected to an output with function HeliTailRSC. Tail pitch is still accomplished with a servo on an ouput assigned to Motor4 function.  
     // @Values: 0:Servo only,1:Servo with ExtGyro,2:DirectDrive VarPitch,3:DirectDrive FixedPitch CW,4:DirectDrive FixedPitch CCW,5:DDVP with external governor
     // @User: Standard
     AP_GROUPINFO("TAIL_TYPE", 4, AP_MotorsHeli_Single, _tail_type, AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO),
@@ -37,7 +37,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
 
     // @Param: GYR_GAIN
     // @DisplayName: External Gyro Gain
-    // @Description: PWM in microseconds sent to external gyro on ch7 when tail type is Servo w/ ExtGyro
+    // @Description: PWM in microseconds sent to external gyro on the autopilot's servo/motor output7 when tail type is Servo w/ ExtGyro
     // @Range: 0 1000
     // @Units: PWM
     // @Increment: 1