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mc_att_control: use expo input for acro mode to allow for high input rates without loosing input sensitivity

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This commit is contained in:
Matthias Grob
2017-10-17 16:54:16 +02:00
parent 747e392be6
commit 3ce5525b7c
2 changed files with 28 additions and 7 deletions
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src/modules/mc_att_control/mc_att_control_params.c
+16 -3
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@@ -379,7 +379,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRAUTO_MAX, 45.0f);
* @increment 5
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 120.0f);
PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 700.0f);
/**
* Max acro pitch rate
@@ -391,7 +391,7 @@ PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 120.0f);
* @increment 5
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 120.0f);
PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 700.0f);
/**
* Max acro yaw rate
@@ -403,7 +403,20 @@ PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 120.0f);
* @increment 5
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 120.0f);
PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 700.0f);
/**
* Acro expo factor
*
* 0 Purely linear input curve
* 1 Purely cubic input curve
*
* @min 0
* @max 1
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_EXPO, 0.69f);
/**
* Threshold for Rattitude mode