From a6995c93cc01ef7e256199becc3f0c89c0739643 Mon Sep 17 00:00:00 2001
From: magate <69254089+magate@users.noreply.github.com>
Date: Wed, 24 Apr 2024 12:10:13 -0700
Subject: [PATCH]  AP_Scripting: allow revert of angular rate limits

---
 libraries/AP_Scripting/applets/revert_param.lua | 8 ++++++++
 libraries/AP_Scripting/applets/revert_param.md  | 2 ++
 2 files changed, 10 insertions(+)

diff --git a/libraries/AP_Scripting/applets/revert_param.lua b/libraries/AP_Scripting/applets/revert_param.lua
index 27dc9cc943bcf..8ea0498f47e5e 100644
--- a/libraries/AP_Scripting/applets/revert_param.lua
+++ b/libraries/AP_Scripting/applets/revert_param.lua
@@ -56,6 +56,7 @@ local PSC_prefixes = { "PSC", "Q_P" }
 local PID_prefixes = { "_RAT_RLL_", "_RAT_PIT_", "_RAT_YAW_" }
 local PID_suffixes = { "FF", "P", "I", "D", "D_FF", "PDMX", "NEF", "NTF", "IMAX", "FLTD", "FLTE", "FLTT", "SMAX" }
 local angle_axes = { "RLL", "PIT", "YAW" }
+local rate_limit_axes = { "R", "P", "Y"}
 local PSC_types = { "ACCZ", "VELZ", "POSZ", "VELXY", "POSXY" }
 local OTHER_PARAMS = { "INS_GYRO_FILTER", "INS_ACCEL_FILTER", "PTCH2SRV_TCONST", "RLL2SRV_TCONST" }
 
@@ -89,6 +90,13 @@ for _, atc in ipairs(ATC_prefixes) do
    end
 end
 
+-- add angular rate limits
+for _, atc in ipairs(ATC_prefixes) do
+   for _, axis in ipairs(rate_limit_axes) do
+      add_param(atc .. "_RATE_" .. axis .. "_MAX")
+   end
+end
+
 -- add fixed wing tuning
 for _, suffix in ipairs(PID_suffixes) do
    add_param("RLL_RATE_" .. suffix)
diff --git a/libraries/AP_Scripting/applets/revert_param.md b/libraries/AP_Scripting/applets/revert_param.md
index 63d564db7b490..8b1aafbfdd6f7 100644
--- a/libraries/AP_Scripting/applets/revert_param.md
+++ b/libraries/AP_Scripting/applets/revert_param.md
@@ -47,6 +47,7 @@ The script covers the following parameters on quadplanes:
  - Q_A_ANG_RLL_P
  - Q_A_ANG_PIT_P
  - Q_A_ANG_YAW_P
+ - Q_A_RATE_*_MAX
  - Q_P_ACCZ_*
  - Q_P_VELZ_*
  - Q_P_POSZ_*
@@ -61,6 +62,7 @@ The script covers the following parameters on copters:
  - ATC_ANG_RLL_P
  - ATC_ANG_PIT_P
  - ATC_ANG_YAW_P
+ - ATC_RATE_*_MAX
  - PSC_ACCZ_*
  - PSC_VELZ_*
  - PSC_POSZ_*