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Make throttle stick scaling more predictable in mc-stabilized mode (#24710)

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* Rescale throttle curve to HTE as option

* Add slew rate to hover thrust estimate

* Update docs to reflect changes

Fix formating

* mc_att_control: suggestions for hover thrust slewing

- Slower slew rate
- Move update of hover thrust estimate into main loop
- Make sure dt for slew rate is correct
- Apply parameter updates if hover thrust estimate not used
- Parameter description in metadata files

* fix: Rescaling cases order

* Rescale to HTE estimate by default

* Update src/modules/mc_pos_control/multicopter_position_control_params.c

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

* Fix hte sub name

* Update MPC_THR_CURVE description

* Swap thr curve values to make hte rescaling default for value 0

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
This commit is contained in:
dawr68
2025-04-22 16:36:33 +02:00
committed by GitHub
co-authored by Mathieu Bresciani Matthias Grob
parent 9404783c99
commit f08d01b4d5
5 changed files with 55 additions and 31 deletions
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docs/en/advanced_config/parameter_reference.md
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@@ -24244,12 +24244,13 @@ Reboot | minValue | maxValue | increment | default | unit
Thrust curve mapping in Stabilized Mode.
Defines how the throttle stick is mapped to collective thrust in Stabilized mode. Rescale to hover thrust: Stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). No Rescale: Directly map the stick 1:1 to the output. Can be useful with very low hover thrust which leads to much distortion and the upper half getting sensitive. With MPC_THR_HOVER 0.5 both modes are the same.
Defines how the throttle stick is mapped to collective thrust in Stabilized mode. Rescale to hover thrust estimate: Stick input is linearly rescaled, such that a centered throttle stick corresponds to the hover thrust estimator's output. No rescale: Directly map the stick 1:1 to the output. Can be useful with very low hover thrust which leads to much distortion and the upper half getting sensitive. Rescale to hover thrust parameter: Similar to rescaling to the hover thrust estimate, but it uses the hover thrust parameter value (see MPC_THR_HOVER) instead of estimated value. With MPC_THR_HOVER 0.5 it's equivalent to No rescale.
**Values:**
- `0`: Rescale to hover thrust
- `1`: No Rescale
- `0`: Rescale to estimate
- `1`: No rescale
- `2`: Rescale to parameter
Reboot | minValue | maxValue | increment | default | unit
@@ -24338,7 +24339,7 @@ Reboot | minValue | maxValue | increment | default | unit
Hover thrust estimator.
Disable to use the fixed parameter MPC_THR_HOVER Enable to use the hover thrust estimator
Disable to use the fixed parameter MPC_THR_HOVER. Enable to use the hover thrust estimator. This parameter does not influence Stabilized mode throttle curve (see MPC_THR_CURVE).
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---