From 18933a3569be88814de8872741223b1c8e2b97d1 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Mon, 17 Aug 2026 01:11:52 +0300
Subject: [PATCH] Rename control parameters (breaking)

Divide all parameters into attitude (ATT) and rates (RATES) control groups, which is more obvious and clear.
---
 docs/usage.md       |  2 +-
 flix/parameters.ino | 52 +++++++++++++++++++++------------------------
 2 files changed, 25 insertions(+), 29 deletions(-)

diff --git a/docs/usage.md b/docs/usage.md
index 1b8b13f..002a258 100644
--- a/docs/usage.md
+++ b/docs/usage.md
@@ -252,7 +252,7 @@ There are several ways to control the drone's flight: using **smartphone** (Wi-F
 6. Use the virtual joystick to fly the drone!
 
 > [!TIP]
-> Decrease `CTL_TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive.
+> Decrease `CTL_ATT_MAX` parameter when flying using the smartphone to make the controls less sensitive.
 
 ### Control with a remote control
 
diff --git a/flix/parameters.ino b/flix/parameters.ino
index 5232ec6..db73c71 100644
--- a/flix/parameters.ino
+++ b/flix/parameters.ino
@@ -29,32 +29,28 @@ struct Parameter {
 
 Parameter parameters[] = {
 	// control
-	{"CTL_R_RATE_P", &rollRatePID.p},
-	{"CTL_R_RATE_I", &rollRatePID.i},
-	{"CTL_R_RATE_D", &rollRatePID.d},
-	{"CTL_R_RATE_WU", &rollRatePID.windup},
-	{"CTL_R_RATE_D_A", &rollRatePID.lpf.alpha},
-	{"CTL_P_RATE_P", &pitchRatePID.p},
-	{"CTL_P_RATE_I", &pitchRatePID.i},
-	{"CTL_P_RATE_D", &pitchRatePID.d},
-	{"CTL_P_RATE_WU", &pitchRatePID.windup},
-	{"CTL_P_RATE_D_A", &pitchRatePID.lpf.alpha},
-	{"CTL_Y_RATE_P", &yawRatePID.p},
-	{"CTL_Y_RATE_I", &yawRatePID.i},
-	{"CTL_Y_RATE_D", &yawRatePID.d},
-	{"CTL_Y_RATE_WU", &yawRatePID.windup},
-	{"CTL_Y_RATE_D_A", &yawRatePID.lpf.alpha},
-	{"CTL_R_P", &rollPID.p},
-	{"CTL_R_I", &rollPID.i},
-	{"CTL_R_D", &rollPID.d},
-	{"CTL_P_P", &pitchPID.p},
-	{"CTL_P_I", &pitchPID.i},
-	{"CTL_P_D", &pitchPID.d},
-	{"CTL_Y_P", &yawPID.p},
-	{"CTL_P_RATE_MAX", &maxRate.y},
-	{"CTL_R_RATE_MAX", &maxRate.x},
-	{"CTL_Y_RATE_MAX", &maxRate.z},
-	{"CTL_TILT_MAX", &tiltMax},
+	{"CTL_RATE_R_P", &rollRatePID.p},
+	{"CTL_RATE_R_I", &rollRatePID.i},
+	{"CTL_RATE_R_D", &rollRatePID.d},
+	{"CTL_RATE_R_WU", &rollRatePID.windup},
+	{"CTL_RATE_R_D_A", &rollRatePID.lpf.alpha},
+	{"CTL_RATE_P_P", &pitchRatePID.p},
+	{"CTL_RATE_P_I", &pitchRatePID.i},
+	{"CTL_RATE_P_D", &pitchRatePID.d},
+	{"CTL_RATE_P_WU", &pitchRatePID.windup},
+	{"CTL_RATE_P_D_A", &pitchRatePID.lpf.alpha},
+	{"CTL_RATE_Y_P", &yawRatePID.p},
+	{"CTL_RATE_Y_I", &yawRatePID.i},
+	{"CTL_RATE_Y_D", &yawRatePID.d},
+	{"CTL_RATE_Y_WU", &yawRatePID.windup},
+	{"CTL_RATE_Y_D_A", &yawRatePID.lpf.alpha},
+	{"CTL_RATE_P_MAX", &maxRate.y},
+	{"CTL_RATE_R_MAX", &maxRate.x},
+	{"CTL_RATE_Y_MAX", &maxRate.z},
+	{"CTL_ATT_R_P", &rollPID.p},
+	{"CTL_ATT_P_P", &pitchPID.p},
+	{"CTL_ATT_Y_P", &yawPID.p},
+	{"CTL_ATT_MAX", &tiltMax},
 	{"CTL_FLT_MODE_0", &flightModes[0]},
 	{"CTL_FLT_MODE_1", &flightModes[1]},
 	{"CTL_FLT_MODE_2", &flightModes[2]},
@@ -82,8 +78,8 @@ Parameter parameters[] = {
 	{"EST_ACC_WEIGHT", &accWeight},
 	{"EST_LVL_WEIGHT", &levelWeight},
 	{"EST_RATES_LPF_A", &ratesFilter.alpha},
-	{"EST_RATES_NF_F", &ratesNotch.frequency, setupEstimate},
-	{"EST_RATES_NF_BW", &ratesNotch.bandwidth, setupEstimate},
+	{"EST_RATES_NO_F", &ratesNotch.frequency, setupEstimate},
+	{"EST_RATES_NO_BW", &ratesNotch.bandwidth, setupEstimate},
 	// motors
 	{"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT], setupMotors},
 	{"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT], setupMotors},