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mc_pos_control: added exponential curve to manual x,y velocity setpoint

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controlled by parameter MPC_XY_MAN_EXPO that is disabled (0) by default
This commit is contained in:
Matthias Grob
2017-02-02 21:24:05 +01:00
committed by Lorenz Meier
parent 661832ca1d
commit c2be4b2b29
2 changed files with 23 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+15
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@@ -492,3 +492,18 @@ PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 5.0f);
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_ALT_MODE, 0);
/**
* Manual control stick exponential curve sensitivity attenuation with small velocity setpoints
*
* The higher the value the less sensitivity the stick has around zero
* while still reaching the maximum value with full stick deflection.
*
* @min 0
* @max 1
* @value 0 Purely linear input curve (default)
* @value 1 Purely cubic input curve
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_MAN_EXPO, 0.0f);