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mc_att_control: use SuperExpo input curve for acro mode to further enhance the stick feel

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Matthias Grob
2017-10-17 16:54:16 +02:00
parent 455ba0e1b5
commit 8b09eaf124
2 changed files with 25 additions and 5 deletions
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src/modules/mc_att_control/mc_att_control_params.c
+17 -1
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@@ -406,7 +406,8 @@ PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 700.0f);
PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 700.0f);
/**
* Acro expo factor
* Acro Expo factor
* applied to input of all axis: roll, pitch, yaw
*
* 0 Purely linear input curve
* 1 Purely cubic input curve
@@ -418,6 +419,21 @@ PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 700.0f);
*/
PARAM_DEFINE_FLOAT(MC_ACRO_EXPO, 0.69f);
/**
* Acro SuperExpo factor
* applied to input of all axis: roll, pitch, yaw
*
* 0 Pure Expo function
* 0.7 resonable shape enhancement for intuitive stick feel
* 0.95 very strong bent input curve only near maxima have effect
*
* @min 0
* @max 0.95
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_SUPEXPO, 0.7f);
/**
* Threshold for Rattitude mode
*