fw-autotune: use 0.75*rate_limit as the target rate.

src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp

@@ -345,7 +345,7 @@ void FwAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
 			}
 
 			const float abs_roll_rate = fabsf(_angular_velocity(0));
-			const float target = min(kTargetRollRate, math::radians(_param_fw_r_rmax.get()));
+			const float target = 0.75f * math::radians(_param_fw_r_rmax.get());
 
 			updateAmplitudeDetectionState(now, abs_roll_rate, target);
 
@@ -396,7 +396,7 @@ void FwAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
 
 			const float abs_pitch_rate = fabsf(_angular_velocity(1));
 			const float max_pitch_rate = min(_param_fw_p_rmax_pos.get(), _param_fw_p_rmax_neg.get());
-			const float target = min(kTargetPitchRate, math::radians(max_pitch_rate));
+			const float target = 0.75f * math::radians(max_pitch_rate);
 
 			updateAmplitudeDetectionState(now, abs_pitch_rate, target);
 
@@ -444,7 +444,7 @@ void FwAutotuneAttitudeControl::updateStateMachine(hrt_abstime now)
 			}
 
 			const float abs_yaw_rate = fabsf(_angular_velocity(2));
-			const float target = min(kTargetYawRate, math::radians(_param_fw_y_rmax.get()));
+			const float target = 0.75f * math::radians(_param_fw_y_rmax.get());
 
 			updateAmplitudeDetectionState(now, abs_yaw_rate, target);
 

src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.hpp

@@ -172,16 +172,6 @@ private:
 	static constexpr float kSignalAmpMax{5.0f};
 	static constexpr float kSignalAmpStep{0.1f};
 
-	// Target maximum angular rates for the system identification signal.
-	// ~45 deg/s for roll, ~30 deg/s for pitch and yaw. These values are:
-	// - High enough to provide good signal-to-noise ratio for identification.
-	// - Low enough to keep pitch and yaw responses within the linear range
-	//   for most vehicles.
-
-	static constexpr float kTargetRollRate{0.8f};
-	static constexpr float kTargetPitchRate{0.5f};
-	static constexpr float kTargetYawRate{0.5f};
-
 	matrix::Vector3f _angular_velocity{};
 
 	bool _armed{false};