From c56f52189748e99c0c1c2923ae08324b95372972 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 19 Feb 2014 21:59:29 +0900 Subject: [PATCH] Copter: ch6 tuning of RC_FEEL_RP --- ArduCopter/ArduCopter.pde | 5 +++++ ArduCopter/defines.h | 1 + 2 files changed, 6 insertions(+) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index f5d370c6c3..3c2054bdb4 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -1562,6 +1562,11 @@ static void tuning(){ ahrs.get_NavEKF()._accNoise = tuning_value; break; #endif + + case CH6_RC_FEEL_RP: + // roll-pitch input smoothing + g.rc_feel_rp = g.rc_6.control_in / 10; + break; } } diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h index 43c0bb63d7..e43f799ef5 100644 --- a/ArduCopter/defines.h +++ b/ArduCopter/defines.h @@ -147,6 +147,7 @@ #define CH6_EKF_VERTICAL_POS 42 // EKF's baro vs accel (higher rely on accels more, baro impact is reduced). Range should be 0.2 ~ 4.0? 2.0 is default #define CH6_EKF_HORIZONTAL_POS 43 // EKF's gps vs accel (higher rely on accels more, gps impact is reduced). Range should be 1.0 ~ 3.0? 1.5 is default #define CH6_EKF_ACCEL_NOISE 44 // EKF's accel noise (lower means trust accels more, gps & baro less). Range should be 0.02 ~ 0.5 0.5 is default (but very robust at that level) +#define CH6_RC_FEEL_RP 45 // roll-pitch input smoothing // Acro Trainer types #define ACRO_TRAINER_DISABLED 0