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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
2018-04-26 14:17:16 +02:00
parent 58c757a9db
commit f2cee9970c
3 changed files with 36 additions and 9 deletions
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src/modules/mc_att_control/mc_att_control_params.c
+29 -4
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@@ -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
*