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Sticks: globalize MPC_HOLD_DZ to MAN_DEADZONE

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Matthias Grob
2025-09-18 15:50:10 +02:00
committed by Silvan Fuhrer
parent a9720cf1ef
commit 2bf9fce577
8 changed files with 30 additions and 27 deletions
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docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
-1
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@@ -645,7 +645,6 @@
1 1 MPC_ACC_HOR_MAX 5.000000000000000000 9
1 1 MPC_ACC_UP_MAX 4.000000000000000000 9
1 1 MPC_ALT_MODE 2 6
1 1 MPC_HOLD_DZ 0.100000001490116119 9
1 1 MPC_HOLD_MAX_XY 0.800000011920928955 9
1 1 MPC_HOLD_MAX_Z 0.600000023841857910 9
1 1 MPC_JERK_AUTO 4.000000000000000000 9
docs/en/flight_modes_mc/position.md
+6 -6
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@@ -43,7 +43,7 @@ While very rare on a well calibrated vehicle, sometimes there may be problems wi
RC mode where roll, pitch, throttle (RPT) sticks control movement in corresponding axes/directions.
Centered sticks level vehicle and hold it to fixed altitude and position against wind.
- Centered roll, pitch, throttle sticks (within RC deadzone [MPC_HOLD_DZ](../advanced_config/parameter_reference.md#MPC_HOLD_DZ)) hold x, y, z position steady against any disturbance like wind.
- Centered roll, pitch, throttle sticks (within RC deadzone [MAN_DEADZONE](../advanced_config/parameter_reference.md#MAN_DEADZONE)) hold x, y, z position steady against any disturbance like wind.
- Outside center:
- Roll/Pitch sticks control horizontal acceleration over ground in the vehicle's left-right and forward-back directions (respectively).
- Throttle stick controls speed of ascent-descent.
@@ -51,10 +51,10 @@ Centered sticks level vehicle and hold it to fixed altitude and position against
- Takeoff:
- When landed, the vehicle will take off if the throttle stick is raised above 62.5% percent (of the full range from bottom).
- Global position estimate is required.
- Manual control input is required (such as RC control, joystick).
- Roll, Pitch, Throttle: Assistance from autopilot to hold position against wind.
- Yaw: Assistance from autopilot to stabilize the attitude rate.
Position of RC stick maps to the rate of rotation of vehicle in that orientation.
- Manual control input is required (such as RC control, joystick).
- Roll, Pitch, Throttle: Assistance from autopilot to hold position against wind.
- Yaw: Assistance from autopilot to stabilize the attitude rate.
Position of RC stick maps to the rate of rotation of vehicle in that orientation.
### Parameters
@@ -62,7 +62,7 @@ All the parameters in the [Multicopter Position Control](../advanced_config/para
| Parameter | Description |
| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="MPC_HOLD_DZ"></a>[MPC_HOLD_DZ](../advanced_config/parameter_reference.md#MPC_HOLD_DZ) | Deadzone of sticks where position hold is enabled. Default: 0.1 (10% of full stick range). |
| <a id="MAN_DEADZONE"></a>[MAN_DEADZONE](../advanced_config/parameter_reference.md#MAN_DEADZONE) | Deadzone of sticks where position hold is enabled. Default: 0.1 (10% of full stick range). |
| <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | Maximum vertical ascent velocity. Default: 3 m/s. |
| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | Maximum vertical descent velocity. Default: 1 m/s. |
| <a id="MPC_LAND_ALT1"></a>[MPC_LAND_ALT1](../advanced_config/parameter_reference.md#MPC_LAND_ALT1) | Altitude for triggering first phase of slow landing. Below this altitude descending velocity gets limited to a value between [MPC_Z_VEL_MAX_DN](#MPC_Z_VEL_MAX_DN) (or `MPC_Z_V_AUTO_DN`) and [MPC_LAND_SPEED](#MPC_LAND_SPEED). Value needs to be higher than [MPC_LAND_ALT2](#MPC_LAND_ALT2). Default 10m. |