It scales the yawspeed setpoint arbitrarily by default with 0.5.
This makes no sense because when you give a setpoint of 1rad/s then
you expect the setpoint to get executed. If you want manual yawspeed
response to be less agressive on the stick use the scaling parameter
for the stick MPC_MAN_Y_MAX.
- increase the minimum pwm value for multirotor mode since we experienced
the rear motor stalling in certain situations when throttle was low
Signed-off-by: Roman <bapstroman@gmail.com>
- this makes sure that all motors are idling in mc mode. having this too
low can lead to a motor stopping in flight which is critical for
attitude control
- experienced loss of attitude control in RTL during descent prior to this
change
Signed-off-by: Roman <bapstroman@gmail.com>
mcsauder