RLL2SRV_RMAX and PTCH2SRV_RMAX_UP documentation doesn't match behavior

[Didymo (William M.)]

The documentation for the parameters PTCH2SRV_RMAX_UP and RLL2SRV_RMAX say

Maximum pitch up rate that the pitch controller demands (degrees/sec) in ACRO mode.

and

Maximum roll rate that the roll controller demands (degrees/sec) in ACRO mode.

respectively. However IRL flying and a SITL shows that these maximum demanded pitch and roll rates only apply in a stabilized mode like FBWA or an automatic mode like AUTO and RTL. During ACRO mode ACRO_PITCH_RATE and ACRO_ROLL_RATE limit the demanded rotation rates, and can even be used to make the maximum rate slower than in the automatic modes.
This is almost certainly the intended behavior and it’s the documentation that’s wrong, however I found at least one thread where the incorrect documentation misled the questioner and prevented them from solving their problem.

RLL2SRV_RMAX and roll rate limit in plane mode

Is there any way to limit the roll rate (deg/s) rotation in auto mode for the plane auto flight modes? I’m trying to make my plane fly more gentle and smooth and not to have the current quick roll rate velocity and acceleration. My PID plane tuning is quite good. I started by limiting the max bank angle to 30º but it still uses aggressively the ailerons to go from 30º to -30º in roll turns. I would prefer to give more bank angle but in a more soft way and I don’t see it possible from the RLL2SRV…

The documentation has existed in this state since at least 4.0.6, though I haven’t yet checked to see if the behavior similarly differs in the older version.

I’m posting this to make sure that it’s the documentation that’s wrong, not the behavior, before submitting an edit to the documentation.

[timtuxworth]

That’s my question too. It looks like the documentation has been updated:

This sets the maximum roll rate that the attitude controller will demand (degrees/sec) in angle stabilized modes.