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MC acro: add separate params to configure yaw expo

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So that it can be customized better according to personal preferences.

The limitation of 16 chars did not allow to use a better param name.
This commit is contained in:
Beat Küng 2018-04-23 14:47:58 +02:00
parent 58c757a9db
commit f2cee9970c
3 changed files with 36 additions and 9 deletions
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6
src/modules/mc_att_control/mc_att_control.hpp
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@ -220,8 +220,10 @@ private:
(ParamFloat<px4::params::MC_ACRO_R_MAX>) _acro_roll_max,
(ParamFloat<px4::params::MC_ACRO_P_MAX>) _acro_pitch_max,
(ParamFloat<px4::params::MC_ACRO_Y_MAX>) _acro_yaw_max,
(ParamFloat<px4::params::MC_ACRO_EXPO>) _acro_expo, /**< function parameter for expo stick curve shape */
(ParamFloat<px4::params::MC_ACRO_SUPEXPO>) _acro_superexpo, /**< function parameter for superexpo stick curve shape */
(ParamFloat<px4::params::MC_ACRO_EXPO>) _acro_expo_rp, /**< expo stick curve shape (roll & pitch) */
(ParamFloat<px4::params::MC_ACRO_EXPO_Y>) _acro_expo_y, /**< expo stick curve shape (yaw) */
(ParamFloat<px4::params::MC_ACRO_SUPEXPO>) _acro_superexpo_rp, /**< superexpo stick curve shape (roll & pitch) */
(ParamFloat<px4::params::MC_ACRO_SUPEXPOY>) _acro_superexpo_y, /**< superexpo stick curve shape (yaw) */
(ParamFloat<px4::params::MC_RATT_TH>) _rattitude_thres,

6
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -704,9 +704,9 @@ MulticopterAttitudeControl::run()
if (_v_control_mode.flag_control_manual_enabled) {
/* manual rates control - ACRO mode */
Vector3f man_rate_sp(
math::superexpo(_manual_control_sp.y, _acro_expo.get(), _acro_superexpo.get()),
math::superexpo(-_manual_control_sp.x, _acro_expo.get(), _acro_superexpo.get()),
math::superexpo(_manual_control_sp.r, _acro_expo.get(), _acro_superexpo.get()));
math::superexpo(_manual_control_sp.y, _acro_expo_rp.get(), _acro_superexpo_rp.get()),
math::superexpo(-_manual_control_sp.x, _acro_expo_rp.get(), _acro_superexpo_rp.get()),
math::superexpo(_manual_control_sp.r, _acro_expo_y.get(), _acro_superexpo_y.get()));
_rates_sp = man_rate_sp.emult(_acro_rate_max);
_thrust_sp = _manual_control_sp.z;

33
src/modules/mc_att_control/mc_att_control_params.c
View File

@ -381,8 +381,7 @@ PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 720.0f);
PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 540.0f);
/**
* Acro Expo factor
* applied to input of all axis: roll, pitch, yaw
* Acro Expo factor for Roll and Pitch.
*
* 0 Purely linear input curve
* 1 Purely cubic input curve
@ -395,8 +394,20 @@ PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 540.0f);
PARAM_DEFINE_FLOAT(MC_ACRO_EXPO, 0.69f);
/**
* Acro SuperExpo factor
* applied to input of all axis: roll, pitch, yaw
* Acro Expo factor for Yaw.
*
* 0 Purely linear input curve
* 1 Purely cubic input curve
*
* @min 0
* @max 1
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_EXPO_Y, 0.69f);
/**
* Acro SuperExpo factor for Roll and Pitch.
*
* 0 Pure Expo function
* 0.7 resonable shape enhancement for intuitive stick feel
@ -409,6 +420,20 @@ PARAM_DEFINE_FLOAT(MC_ACRO_EXPO, 0.69f);
*/
PARAM_DEFINE_FLOAT(MC_ACRO_SUPEXPO, 0.7f);
/**
* Acro SuperExpo factor for 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_SUPEXPOY, 0.7f);
/**
* Threshold for Rattitude mode
*