From 98893c9f4f80de7eaa194adce09cfb5717b3b8df Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=83=C2=BCng?= <beat-kueng@gmx.net>
Date: Thu, 21 Sep 2017 13:39:15 +0200
Subject: [PATCH] mc_att_control params: increase max roll/pitch/yaw rates to
 1800

If you want to go to the limit of what the vehicle can do, you need to be
able to set it so large that it is guaranteed that it's never limited by
software.

Tests showed that it's not a problem to increase it to very high numbers.
---
 .../mc_att_control/mc_att_control_params.c    | 28 +++++++++++--------
 1 file changed, 17 insertions(+), 11 deletions(-)

diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c
index a07aa45529..b2a1cb8b7a 100644
--- a/src/modules/mc_att_control/mc_att_control_params.c
+++ b/src/modules/mc_att_control/mc_att_control_params.c
@@ -307,11 +307,16 @@ PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
 /**
  * Max roll rate
  *
- * Limit for roll rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.
+ * Limit for roll rate in manual and auto modes (except acro).
+ * Has effect for large rotations in autonomous mode, to avoid large control
+ * output and mixer saturation.
+ *
+ * This is not only limited by the vehicle's properties, but also by the maximum
+ * measurement rate of the gyro.
  *
  * @unit deg/s
  * @min 0.0
- * @max 360.0
+ * @max 1800.0
  * @decimal 1
  * @increment 5
  * @group Multicopter Attitude Control
@@ -321,11 +326,16 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_MAX, 220.0f);
 /**
  * Max pitch rate
  *
- * Limit for pitch rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.
+ * Limit for pitch rate in manual and auto modes (except acro).
+ * Has effect for large rotations in autonomous mode, to avoid large control
+ * output and mixer saturation.
+ *
+ * This is not only limited by the vehicle's properties, but also by the maximum
+ * measurement rate of the gyro.
  *
  * @unit deg/s
  * @min 0.0
- * @max 360.0
+ * @max 1800.0
  * @decimal 1
  * @increment 5
  * @group Multicopter Attitude Control
@@ -335,11 +345,9 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 220.0f);
 /**
  * Max yaw rate
  *
- * A value of significantly over 120 degrees per second can already lead to mixer saturation.
- *
  * @unit deg/s
  * @min 0.0
- * @max 360.0
+ * @max 1800.0
  * @decimal 1
  * @increment 5
  * @group Multicopter Attitude Control
@@ -350,13 +358,11 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 200.0f);
  * Max yaw rate in auto mode
  *
  * Limit for yaw rate, has effect for large rotations in autonomous mode,
- * to avoid large control output and mixer saturation. A value of significantly
- * over 60 degrees per second can already lead to mixer saturation.
- * A value of 30 degrees / second is recommended to avoid very audible twitches.
+ * to avoid large control output and mixer saturation.
  *
  * @unit deg/s
  * @min 0.0
- * @max 120.0
+ * @max 360.0
  * @decimal 1
  * @increment 5
  * @group Multicopter Attitude Control