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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 06:23:34 +08:00
Matthias Grob
be56f74c1d
high rates and (super) expo are necessary for - acrobatic flying - fpv - racing but they are not useful for: - a typical vehicle's rate control tuning - beginners The defaults that I set in #8036 were put with the assumption Acro mode is mainly used on racing drones for acrobatic manouvers but instead users including me use it most of the time to tune any drone. When tuning the rates are lowered and expo disabled. My suggested strategy is to make the beginner friendly rates without expo which are good for tuning the default and document more clearly how this can be raised for acrobatic flying in documentation and later on hopefully also directly in the ground station UI on an Acro mode specific page.
143 lines
3.8 KiB
C
143 lines
3.8 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mc_acro_params.c
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*
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* Parameters for Acro mode behavior
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*/
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/**
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* Acro mode maximum roll rate
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*
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* Full stick deflection leads to this rate.
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*
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* @unit deg/s
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* @min 0.0
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* @max 1800.0
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* @decimal 1
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* @increment 5
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* @group Multicopter Acro Mode
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 100.f);
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/**
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* Acro mode maximum pitch rate
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*
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* Full stick deflection leads to this rate.
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*
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* @unit deg/s
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* @min 0.0
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* @max 1800.0
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* @decimal 1
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* @increment 5
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* @group Multicopter Acro Mode
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 100.f);
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/**
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* Acro mode maximum yaw rate
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*
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* Full stick deflection leads to this rate.
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*
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* @unit deg/s
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* @min 0.0
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* @max 1800.0
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* @decimal 1
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* @increment 5
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* @group Multicopter Acro Mode
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 100.f);
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/**
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* Acro mode roll, pitch expo factor
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*
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* Exponential factor for tuning the input curve shape.
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*
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* 0 Purely linear input curve
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* 1 Purely cubic input curve
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*
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* @min 0
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* @max 1
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* @decimal 2
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* @group Multicopter Acro Mode
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_EXPO, 0.f);
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/**
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* Acro mode yaw expo factor
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*
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* Exponential factor for tuning the input curve shape.
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*
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* 0 Purely linear input curve
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* 1 Purely cubic input curve
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*
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* @min 0
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* @max 1
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* @decimal 2
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* @group Multicopter Acro Mode
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_EXPO_Y, 0.f);
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/**
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* Acro mode roll, pitch super expo factor
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*
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* "Superexponential" factor for refining the input curve shape tuned using MC_ACRO_EXPO.
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*
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* 0 Pure Expo function
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* 0.7 reasonable shape enhancement for intuitive stick feel
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* 0.95 very strong bent input curve only near maxima have effect
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*
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* @min 0
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* @max 0.95
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* @decimal 2
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* @group Multicopter Acro Mode
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_SUPEXPO, 0.f);
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/**
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* Acro mode yaw super expo factor
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*
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* "Superexponential" factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y.
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*
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* 0 Pure Expo function
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* 0.7 reasonable shape enhancement for intuitive stick feel
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* 0.95 very strong bent input curve only near maxima have effect
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*
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* @min 0
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* @max 0.95
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* @decimal 2
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* @group Multicopter Acro Mode
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_SUPEXPOY, 0.f);
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