update comment

src/lib/mixer_module/params.c

@@ -20,16 +20,16 @@ PARAM_DEFINE_INT32(MC_AIRMODE, 0);
 /**
  * Multicopter Throttle Reduction for Increased Yaw Actuation
  *
- * The default behavior for multicopters is to trade altitude (z-thrust) for attitude automatically.
+ * The default behavior for multicopters is to trade throttle (z-thrust) for attitude automatically.
  * This is reasonable for pitch and roll, because it prevents a worsening problem (increasing
  * throttle requirements). But this is not always reasonable for yaw actuation.
  *
- * This gives an alternative to the default behavior where z-thrust is never sacrificed for
- * yaw actuation. The idea is to leave it up to the pilot to sacrifice altitude for yaw actuation.
+ * This gives an alternative to the default behavior, allowing the user to disable sacrificing
+ * z-thrust for yaw actuation. The idea is to leave it up to the pilot to sacrifice altitude for yaw
+ * actuation.
  *
  * If false, Z-thrust is never sacrificed for yaw actuation.
- * If true, default behavior. Z-thrust is reduced to make room yaw actuation
- * 	when saturated.
+ * If true, default behavior. Z-thrust is reduced to make room yaw actuation when saturated.
  *
  * @boolean
  * @group Mixer Output

src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.hpp

@@ -119,8 +119,7 @@ class ControlAllocationSequentialDesaturation: public ControlAllocationPseudoInv
 	 *
 	 * Desaturation behavior: no airmode, thrust is NEVER increased to meet the demanded
 	 * roll/pitch/yaw. Instead roll/pitch/yaw is reduced as much as needed.
-	 * Thrust can be reduced to unsaturate the upper side, if MC_REDUCE_THRUST is true.
-	 * If MC_REDUCE_THRUST is false, then thrust will not be reduced.
+	 * Thrust can be reduced to unsaturate the upper side.
 	 *
 	 * @see mixYaw() for the exact yaw behavior.
 	 */
@@ -135,7 +134,7 @@ class ControlAllocationSequentialDesaturation: public ControlAllocationPseudoInv
 	 * in order to allow some yaw control on the upper end. On the lower end thrust will never
 	 * be increased, but yaw is decreased as much as required.
 	 *
-	 * If MC_REDUCE_THRUST is false, then thrust is not allowed to be decreased for yaw.
+	 * If MC_REDUCE_THRUST is false, then thrust will not be sacrificed for yaw.
 	 */
 	void mixYaw();