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control_allocator: add unit for slew rate and reword description

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This commit is contained in:
Matthias Grob
2024-10-23 19:33:26 +02:00
committed by Silvan Fuhrer
parent c76e74338b
commit c1cab2d4e0
1 changed files with 6 additions and 7 deletions
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src/modules/control_allocator/module.yaml
+6 -7
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@@ -71,15 +71,14 @@ parameters:
description: description:
short: Motor ${i} slew rate limit short: Motor ${i} slew rate limit
long: | long: |
Minimum time allowed for the motor input signal to pass through Forces the motor output signal to take at least the configured time (in seconds)
the full output range. A value x means that the motor signal to traverse its full rangr normally [0%, 100%] if reversible [-100%, 100%].
can only go from 0 to 1 in minimum x seconds (in case of
reversible motors, the range is -1 to 1).
Zero means that slew rate limiting is disabled. Zero means that slew rate limiting is disabled.
type: float type: float
decimal: 2 decimal: 2
increment: 0.01 increment: 0.01
unit: s
num_instances: *max_num_mc_motors num_instances: *max_num_mc_motors
min: 0 min: 0
max: 10 max: 10
@@ -90,14 +89,14 @@ parameters:
description: description:
short: Servo ${i} slew rate limit short: Servo ${i} slew rate limit
long: | long: |
Minimum time allowed for the servo input signal to pass through Forces the servo output signal to take at least the configured time (in seconds)
the full output range. A value x means that the servo signal to traverse its full range [-100%, 100%].
can only go from -1 to 1 in minimum x seconds.
Zero means that slew rate limiting is disabled. Zero means that slew rate limiting is disabled.
type: float type: float
decimal: 2 decimal: 2
increment: 0.05 increment: 0.05
unit: s
num_instances: *max_num_servos num_instances: *max_num_servos
min: 0 min: 0
max: 10 max: 10