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Sub: Add RC_SLEW_RATE parameter

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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
Co-authored-by: Jacob Walser <jwalser90@gmail.com>
This commit is contained in:
Patrick José Pereira 2018-04-20 19:32:39 -03:00 committed by Jacob Walser
parent ee36509cb8
commit f04a861c58
2 changed files with 11 additions and 0 deletions
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9
ArduSub/Parameters.cpp
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@ -398,6 +398,15 @@ const AP_Param::Info Sub::var_info[] = {
// @User: Advanced
GSCALAR(rc_speed, "RC_SPEED", RC_SPEED_DEFAULT),
// @Param: MANUAL_SLEW_RATE
// @DisplayName: RC Channel Update Slew Rate
// @Description: This is slew rate in %/s that will be used in manual mode to avoid large step outputs on the motors. Set to zero to disable.
// @Units: %/s
// @Range: 0 500
// @Increment: 10
// @User: Advanced
GSCALAR(manual_slew_rate, "MANUAL_SLEW_RATE", 100),
// @Param: ACRO_RP_P
// @DisplayName: Acro Roll and Pitch P gain
// @Description: Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode. Higher values mean faster rate of rotation.

2
ArduSub/Parameters.h
View File

@ -185,6 +185,7 @@ public:
k_param_compass_enabled,
k_param_surface_depth,
k_param_rc_speed, // Main output pwm frequency
k_param_manual_slew_rate, // manual mode motors mixer slew rate
k_param_gcs_pid_mask = 178,
k_param_throttle_filt,
k_param_throttle_deadzone, // Used in auto-throttle modes
@ -267,6 +268,7 @@ public:
AP_Int8 terrain_follow;
AP_Int16 rc_speed; // speed of fast RC Channels in Hz
AP_Int16 manual_slew_rate;
AP_Float gain_default;
AP_Float maxGain;