From b6c0bebdeb5229c5ba4dd183eb8125609ae3a6b5 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 18 Aug 2026 15:07:16 +0300
Subject: [PATCH] Better names for control parameters (breaking change)

Divide all parameters into attitude (ATT) and rates (RATE) control groups, which is much more obvious and clear.
Improves alphabetic sort representation.
Also makes more sense when filtering parameters using prefix in `p` command.
Remove i and d parameters for attitude control, since they are unlikely to be useful in practice.
---
 docs/usage.md       |  2 +-
 flix/parameters.ino | 48 +++++++++++++++++++++------------------------
 2 files changed, 23 insertions(+), 27 deletions(-)

diff --git a/docs/usage.md b/docs/usage.md
index b109276..e7fbc50 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 32c874d..03bad37 100644
--- a/flix/parameters.ino
+++ b/flix/parameters.ino
@@ -33,32 +33,28 @@ 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]},