Sep 20, 2023: Limits changed: MC_ACRO_P_MAX 720.0f→100.f, MC_ACRO_R_MAX 720.0f→100.f and MC_ACRO_Y_MAX 540.0f→100.f. · PX4 controller-parameter changelog (demo)

Sep 20, 2023 · be56f74 · 1 watched files, +7/−7

Limits changed: MC_ACRO_P_MAX 720.0f→100.f, MC_ACRO_R_MAX 720.0f→100.f and MC_ACRO_Y_MAX 540.0f→100.f.

limitsparams

Limit defaults changed: MC_ACRO_P_MAX: 720.0f → 100.f (−86.1%) (in src/modules/mc_rate_control/mc_acro_params.c), MC_ACRO_R_MAX: 720.0f → 100.f (−86.1%) (in src/modules/mc_rate_control/mc_acro_params.c) and MC_ACRO_Y_MAX: 540.0f → 100.f (−81.5%) (in src/modules/mc_rate_control/mc_acro_params.c).
Parameter defaults changed: MC_ACRO_EXPO: 0.69f → 0.f (−100%) (in src/modules/mc_rate_control/mc_acro_params.c), MC_ACRO_EXPO_Y: 0.69f → 0.f (−100%) (in src/modules/mc_rate_control/mc_acro_params.c), MC_ACRO_SUPEXPO: 0.7f → 0.f (−100%) (in src/modules/mc_rate_control/mc_acro_params.c) and MC_ACRO_SUPEXPOY: 0.7f → 0.f (−100%) (in src/modules/mc_rate_control/mc_acro_params.c).
Most activity in src/ (+7/−7).

Full analysis → Summary: automatic analysis

Changed values

Name	Old	New	Change	File	Extractor
`MC_ACRO_EXPO`	`0.69f`	`0.f`	−100%	src/modules/mc_rate_control/mc_acro_params.c	px4_param_define
`MC_ACRO_EXPO_Y`	`0.69f`	`0.f`	−100%	src/modules/mc_rate_control/mc_acro_params.c	px4_param_define
`MC_ACRO_P_MAX`	`720.0f`	`100.f`	−86.1%	src/modules/mc_rate_control/mc_acro_params.c	px4_param_define
`MC_ACRO_R_MAX`	`720.0f`	`100.f`	−86.1%	src/modules/mc_rate_control/mc_acro_params.c	px4_param_define
`MC_ACRO_SUPEXPO`	`0.7f`	`0.f`	−100%	src/modules/mc_rate_control/mc_acro_params.c	px4_param_define
`MC_ACRO_SUPEXPOY`	`0.7f`	`0.f`	−100%	src/modules/mc_rate_control/mc_acro_params.c	px4_param_define
`MC_ACRO_Y_MAX`	`540.0f`	`100.f`	−81.5%	src/modules/mc_rate_control/mc_acro_params.c	px4_param_define

Post text (X-ready, not posted)

PX4 update (Sep 20): MC_ACRO_P_MAX 720.0f → 100.f (7.2x lower) - MC_ACRO_R_MAX 720.0f → 100.f (7.2x lower) - MC_ACRO_Y_MAX 540.0f → 100.f (5.4x lower) - MC_ACRO_EXPO 0.69f → 0.f

181/280 weighted chars

+3 more on the details page. Details: https://fitzyracing1.github.io/knoblog/demo/px4/entries/be56f74.html Commit: https://github.com/PX4/PX4-Autopilot/commit/be56f74c1d0a03809fa370804f6dc114a4e4223b Values are PX4 firmware defaults in the repo.

139/280 weighted chars

Modules touched

Module	Added	Modified	Removed	Lines +	Lines −
`src`	0	1	0	+7	−7

Watched files (1)

Show file list

	Path	Lines	Note
M	src/modules/mc_rate_control/mc_acro_params.c	+7/−7

Commit message

mc_acro_params: beginner/tuning friendly defaults

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.