Change LIM_ROLL_CD to ROLL_LIMIT_DEG

common/source/docs/common-paramosd.rst

@@ -149,7 +149,7 @@ To set OSD5 parameter1 to TRIM_THROTTLE, type :code:`osd param-show 5 1 TRIM_THR
 
 To set OSD6 parameter2 to FLTMODE1 using respective mnemonics, type :code:`osd param-set 6 2 FLTMODE1 FLIGHT_MODE`
 
-To set OSD5 parameter2 to LIM_ROLL_CD, limiting range from 2000 - 6000 with increments of 100, type :code:`osd param-set 5 2 LIM_ROLL_CD 2000 6000 100`
+To set OSD5 parameter2 to ROLL_LIMIT_DEG, limiting range from 20 - 60 with increments of 1 degree, type :code:`osd param-set 5 2 ROLL_LIMIT_DEG 20 60 10
 
 To show what OSD6 parameter2 is set to, type :code:`osd param-show 6 2`
 

common/source/docs/common-prearm-safety-checks.rst

@@ -280,7 +280,7 @@ Pre-arm checks that are failing will also be sent as messages to the GCS while d
     Check Q_ANGLE_MAX                                       Set above 80 degrees                                Reduce :ref:`Q_ANGLE_MAX<Q_ANGLE_MAX>` below 80; 30 degrees is typical
     In landing sequence                                     Trying to arm while still in landing sequence       Reset mission;change to mission item not in a landing sequence
     Invalid THR_FS_VALUE for reversed throttle input        THR_FS_VALUE pwm is not ABOVE the max throttle      Set :ref:`THR_FS_VALUE<THR_FS_VALUE>` above throttle maximum pwm
-    LIM_ROLL_CD too small x                                 Parameter set under 3 degrees                       Increase, 45 deg recommended minimum for adequate control
+    ROLL_LIMIT_DEG too small x                              Parameter set under 3 degrees                       Increase, 45 deg recommended minimum for adequate control
     LIM_PITCH_MAX too small x                               Parameter set under 3 degrees                       Increase, 45 deg recommended minimum for adequate control
     LIM_PITCH_MIN too large x                               Parameter set over 3 degrees                        Increase, 45 deg recommended minimum for adequate control
     Mode not armable                                        Cannot arm from this mode                           Change Mode

plane/source/docs/arming-your-plane.rst

@@ -231,7 +231,7 @@ autopilot can refuse to arm are (See the :ref:`common-prearm-safety-checks` topi
    itself after 30 seconds then you will need to reboot.
 -  **Limit errors**. The arming checks some of your parameter settings
    to make sure they are in a reasonable range. The checks are
-   "LIM_ROLL_CD too small", "LIM_PITCH_MAX too small",
+   "ROLL_LIMIT_DEG too small", "LIM_PITCH_MAX too small",
    "LIM_PITCH_MIN too large", "invalid THR_FS_VALUE".
 -  **GPS n has not been fully configured**. This happens with a uBlox
    GPS where the GPS driver is unable to fully configure the GPS for

plane/source/docs/automatic-takeoff.rst

@@ -27,7 +27,7 @@ for a wide range of aircraft.
 During takeoff the wings will be held level to within
 :ref:`LEVEL_ROLL_LIMIT <LEVEL_ROLL_LIMIT>`
 degrees until 5 meters of altitude is reached, gradually allowing more roll until
-the normal :ref:`LIM_ROLL_CD<LIM_ROLL_CD>` limit is allowed once 15 meters of altitude is
+the normal :ref:`ROLL_LIMIT_DEG<ROLL_LIMIT_DEG>` limit is allowed once 15 meters of altitude is
 reached. This prevents a sharp roll from causing the wings to hit the
 runway for ground takeoffs.
 

plane/source/docs/case-study-fly-by-wire.rst

@@ -57,7 +57,7 @@ carefully at the key nav parameters you have:
 -  WP_RADIUS: 8
 -  NAVL1_PERIOD: 18
 -  NAVL1_DAMPING: 0.8
--  LIM_ROLL_CD: 6000
+-  ROLL_LIMIT_DEG: 60
 
 The one that is furthest off for this sort of track is WP_RADIUS. You
 are flying at about 18 m/s on average, and your uBlox GPS will have a
@@ -66,7 +66,7 @@ means you are not turning until you are past the waypoint. If that is
 what you want then that's fine, but if you want the plane to turn neatly
 onto the next track then you'll need to turn earlier.
 
-Your LIM_ROLL_CD of 60 degrees at 18 m/s corresponds to a turn radius
+Your ROLL_LIMIT_DEG of 60 degrees at 18 m/s corresponds to a turn radius
 of 19.1 m. The plane also takes a second or two to change attitude. (The
 X8 is not a fast response plane! It's more like flying a manta ray). If
 we add 1 second of flight time for the attitude change plus the GPS lag
@@ -79,7 +79,7 @@ I also think you could lower NAVL1_PERIOD a bit more. I don't see any
 weaving there, just xtrack changes, so I'd try 15 and see if it weaves.
 You may even find 13 works well. You'll need to experiment as the right
 value is very airframe dependent (and even depends on the type of servo
-you have!). You may also like to increase LIM_ROLL_CD to 6500 for a
+you have!). You may also like to increase ROLL_LIMIT_DEG to 65 for a
 bit faster turns.
 
 Finally let's look at your altitude handling:
@@ -124,7 +124,7 @@ The RC limits you had set were:
 -  RC1_MIN         1012
 -  RC2_MAX         1927
 -  RC2_MIN         986
--  LIM_ROLL_CD  6000
+-  ROLL_LIMIT_DEG  60
 
 We can also see from this graph that you had a bit of transmitter trim.
 The part of the graph where the nav_roll is zero shows your RC input

plane/source/docs/case-study-turn-rate.rst

@@ -45,7 +45,7 @@ sequence number.
     :target: ../_images/nav-output-and-roll-attitude.png
 
 In the takeoff nav_roll is small, as its flight is straight ahead. It
-then goes to -30 degrees, as that is the LIM_ROLL_CD you have
+then goes to -30 degrees, as that is the ROLL_LIMIT_DEG you have
 specified. The problem is that the actual roll only goes to around -10
 degrees. So the plane is not achieving the roll that APM is asking for.
 

plane/source/docs/circle-mode.rst

@@ -12,7 +12,7 @@ for more information.
 
 Circle mode is deliberately a very conservative mode, and doesn't rely
 on GPS positioning as it is used when GPS fails. It will do a large
-circle, The bank angle is set to the ``LIM_ROLL_CD`` divided by 3, to
+circle, The bank angle is set to the ``ROLL_LIMIT_DEG`` divided by 3, to
 try to ensure the plane remains stable even without GPS velocity data
 for accelerometer correction. That is why the circle radius is so large.
 

plane/source/docs/fbwa-mode.rst

@@ -8,9 +8,9 @@ This is the most popular mode for assisted flying in Plane, and is the
 best mode for inexperienced flyers. In this mode Plane will hold the
 roll and pitch specified by the control sticks. So if you hold the
 aileron stick hard right then the plane will hold its pitch level and
-will bank right by the angle specified in the ``LIM_ROLL_CD`` option (in
-centidegrees). It is not possible to roll the plane past the roll limit
-specified in ``LIM_ROLL_CD``, and it is not possible to pitch the plane
+will bank right by the angle specified in the ``ROLL_LIMIT_DEG`` parameter (in
+degrees). It is not possible to roll the plane past the roll limit
+specified in ``ROLL_LIMIT_DEG``, and it is not possible to pitch the plane
 beyond the ``LIM_PITCH_MAX``/``LIM_PITCH_MIN``\ settings.
 
 Note that holding level pitch does not mean the plane will hold

plane/source/docs/fpv-plane.rst

@@ -239,7 +239,7 @@ good basic performance. In order to display this in the OSD, you will need to se
 5. ARMING: Leave all arming parameters at default. There is no reason to disable these safety checks. You should be able to get a GPS lock even indoors with modern GPS units. Inability to arm due to one of these checks failing means something has to be corrected. This adds noticeable safety by keeping you from accidentally starting your flight without your autopilot being in a fully functional state.
 
 All other parameters can be left to default. However, after you get some flights, you might want to play with:
-:ref:`LIM_PITCH_MAX<LIM_PITCH_MAX>`, :ref:`LIM_ROLL_CD<LIM_ROLL_CD>`, and :ref:`FBWB_CLIMB_RATE<FBWB_CLIMB_RATE>`. These are pretty docile at default values.
+:ref:`LIM_PITCH_MAX<LIM_PITCH_MAX>`, :ref:`ROLL_LIMIT_DEG<ROLL_LIMIT_DEG>`, and :ref:`FBWB_CLIMB_RATE<FBWB_CLIMB_RATE>`. These are pretty docile at default values.
 
 -  ESC Calibration
 

plane/source/docs/navigation-tuning.rst

@@ -25,7 +25,7 @@ Steps to tuning the L1 controller
 -  Make sure you have already tuned the roll and pitch controller,
    correctly trimmed your plane, and have ensured the plane does not
    gain or lose altitude in turns
--  Make sure you have setup :ref:`LIM_ROLL_CD<LIM_ROLL_CD>` to an appropriate value for
+-  Make sure you have setup :ref:`ROLL_LIMIT_DEG<ROLL_LIMIT_DEG>` to an appropriate value for
    the bank angle you are comfortable with your plane flying without
    stalling. For slow flying electric gliders a value of around 5000 (50
    degrees) is a good start. For fast flying aerobatic planes you may

plane/source/docs/quadplane-parameters.rst

@@ -101,7 +101,7 @@ In addition, the behavior of QuadPlane can be modified by the setting of the :re
 -  bit 11(+2048), if set, will delay VTOL motor spin up until 2 seconds after arming.
 -  bit 12(+4096), if set, disable speed based Qassist when using synthetic airspeed
 -  bit 13(+8192), if set, will disable Ground Effect Compensation of baro due to ground effect pressures
--  bit 14(+16384), if set, ignore forward flight angle limits in Qmodes, otherwise LIM_PITCH_CD and LIM_ROLL_CD can constrain Q_ANG_MAX in VTOL modes.
+-  bit 14(+16384), if set, ignore forward flight angle limits in Qmodes, otherwise LIM_PITCH_CD and ROLL_LIMIT_DEG can constrain Q_ANG_MAX in VTOL modes.
 -  bit 15(+32768), if set, will allow pilot to control descent during VTOL AUTO-LAND phases, similar to throttle stick action during QHOVER or QLOITER. However, this will not become active until the throttle stick is raised above 70% during the descent at least once.
 -  bit 16(+65536), if set, will disable the fixed wing approach in QRTL mode and VTOL_LANDING mission items, see Hybrid RTL modes section of :ref:`quadplane-flying` for details of this hybrid landing approach.
 -  bit 17(+131072), if set, will enable pilot horizontal re-positioning during VTOL auto LAND phases, momentarily pausing the descent while doing so.

plane/source/docs/soaring-4_1.rst

@@ -178,7 +178,7 @@ The parameter :ref:`SOAR_THML_BANK<SOAR_THML_BANK>` sets the bank angle when the
 
 If the aircraft is not achieving this average bank angle when thermalling, you should check - 
 
- - that the limiting bank angle :ref:`LIM_ROLL_CD<LIM_ROLL_CD>` is set a bit larger than SOAR_THML_BANK (note the units are different) to give some room for manoeuvring;
+ - that the limiting bank angle :ref:`ROLL_LIMIT_DEG<ROLL_LIMIT_DEG>` is set a bit larger than SOAR_THML_BANK (note the units are different) to give some room for manoeuvring;
 
  - that the navigation parameter NAVL1_PERIOD is no larger than the time needed for a complete turn at the specified bank angle.
 

plane/source/docs/soaring.rst

@@ -123,7 +123,7 @@ about airspeed squared over ~10 (for 45 degrees) or ~6 (for 30 degrees), from th
 
 The tangent is for the desired bank angle. The resulting radius will be in meters. Use g  = 9.81 m/s/s, and velocity (v) is in m/s. For example, if the airspeed in loiter is 20m/s, then the :ref:`WP_LOITER_RAD<WP_LOITER_RAD>` should be 40m for a 45 degree bank.
 
-You should make sure that the limiting bank angle :ref:`LIM_ROLL_CD<LIM_ROLL_CD>` is set a bit larger than the desired bank angle to give some room for manoeuvring.
+You should make sure that the limiting bank angle :ref:`ROLL_LIMIT_DEG<ROLL_LIMIT_DEG>` is set a bit larger than the desired bank angle to give some room for manoeuvring.
 
 
 Set limits

plane/source/docs/training-mode.rst

@@ -12,7 +12,7 @@ roll to the :ref:`Stall Prevention <stall-prevention>` roll limits.
 
 More specifically:
 
--  If the roll is less the :ref:`LIM_ROLL_CD <LIM_ROLL_CD>`
+-  If the roll is less the :ref:`ROLL_LIMIT_DEG <ROLL_LIMIT_DEG>`
    parameter than the pilot has manual roll control. If the plane tries
    to roll past that limit then the roll will be held at that limit. The
    plane will not automatically roll back to level flight, but it will