AP_MotorsHeli: Add clarifying comments to yaw trim parameter metadata. #30904
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rmackay9
reviewed
Aug 14, 2025
| @@ -178,8 +178,8 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = { | |||
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| // @Param: YAW_TRIM | |||
| // @DisplayName: Tail Rotor Trim | |||
| // @Description: Fixed offset applied to yaw output to minimize yaw I-term contribution needed to counter rotor drag. Currently only works of DDFP tails (H_TAIL_TYPE = 3 or H_TAIL_TYPE = 4). If using the H_COL2YAW compensation this trim is used to compensate for the main rotor profile drag. If H_COL2YAW is not used, this value can be set to reduce the yaw I contribution to zero when in a steady hover. | |||
| // @Range: 0 1 | |||
| // @Description: Fixed offset applied to yaw output to minimize yaw I-term contribution needed to counter rotor drag. Currently only works of DDFP tails (H_TAIL_TYPE = 3 or H_TAIL_TYPE = 4). If using the H_COL2YAW compensation this trim is used to compensate for the main rotor profile drag. If H_COL2YAW is not used, this value can be set to reduce the yaw I-term to zero when in a steady hover. In this case, move trim in the direction of the I-term found in PIDY.I log message (e.g. negative I means you want negative trim). | |||
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I'm not the expert in this area but it looks ok to me.
BTW, there's an existing typo, "Currently only works of DDFP tails" which should probably be "Currently only works for DDFP tails"
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@MattKear I realized that I was able to commit the suggested change. So that is what I did. I will merge once it passes CI. Thanks! |
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Thanks @bnsgeyer |
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No functional change.
Just adding some clarification to the yaw trim parameter metadata, following a conversation with a user on discord.