From feef280dadd7cb7b6bc77dd3c449ee18cd37e231 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Wed, 31 Jul 2024 10:47:27 +1000 Subject: [PATCH] Add Acro note --- en/config_mc/pid_tuning_guide_multicopter.md | 9 +++++- en/flight_modes_mc/acro.md | 34 ++++++++++++++------ 2 files changed, 32 insertions(+), 11 deletions(-) diff --git a/en/config_mc/pid_tuning_guide_multicopter.md b/en/config_mc/pid_tuning_guide_multicopter.md index d6772f6203a7..43e1da577311 100644 --- a/en/config_mc/pid_tuning_guide_multicopter.md +++ b/en/config_mc/pid_tuning_guide_multicopter.md @@ -93,7 +93,14 @@ The related parameters for the tuning of the PID rate controllers are: The rate controller can be tuned in [Acro mode](../flight_modes_mc/acro.md) or [Manual/Stabilized mode](../flight_modes_mc/manual_stabilized.md): -- _Acro mode_ is the best way because it allows for isolated rate control testing, but it is significantly harder to pilot. If you choose this mode, make sure to [disable all stick expo and have reasonable maximum rates for all axes](../flight_modes_mc/acro.md#stick-input-mapping). From PX4 1.15 on the defaults are set for this purpose to a maximum rate of 100°/s linear mapping for all axes. +- _Acro mode_ is preferred because it allows for isolated rate control testing. + However it is significantly harder to pilot. + + ::: warning + If you choose this mode, you must [disable all stick expo and have reasonable maximum rates for all axes](../flight_modes_mc/acro.md#stick-input-mapping). + For PX4 v1.15 and later the defaults are set for this purpose to a maximum rate of 100°/s linear mapping for all axes. + ::: + - _Manual/Stabilized mode_ is simpler to fly, but it is also much more difficult to distinguish if attitude or rate controller causes a certain behavior. If the vehicle does not fly at all: diff --git a/en/flight_modes_mc/acro.md b/en/flight_modes_mc/acro.md index cc9c6756f448..3e2102c07d71 100644 --- a/en/flight_modes_mc/acro.md +++ b/en/flight_modes_mc/acro.md @@ -27,7 +27,21 @@ Manual control input is required (such as RC control, joystick): ## Stick Input Mapping -The default roll, pitch, and yaw input stick mapping for Acro mode is shown below. The curve enables a high turn rate at maximum stick input for performing acrobatic maneuvers, and a zone of lower sensitivity close to the stick center for small corrections. +The default values for expo and rate [parameters](#parameters) are _beginner friendly_, reducing the chance that users will flip the vehicle when first trying this mode, or when using Acro mode for manual rate tuning. + +Unfortunately they are poor for Acro flying though! +The following values are more reasonable for experienced users: + +- [MC_ACRO_R_MAX](#MC_ACRO_R_MAX): `720` (2 turns per second) +- [MC_ACRO_P_MAX](#MC_ACRO_P_MAX): `720` (2 turns per second) +- [MC_ACRO_Y_MAX](#MC_ACRO_Y_MAX): `540` (2 turns per second) +- [MC_ACRO_EXPO](#MC_ACRO_R_MAX): `0.69` +- [MC_ACRO_EXPO_Y](#MC_ACRO_EXPO_Y): `0.69` +- [MC_ACRO_SUPEXPO](#MC_ACRO_SUPEXPO): `0.69` +- [MC_ACRO_SUPEXPOY](#MC_ACRO_SUPEXPOY): `0.7` + +The roll, pitch, and yaw input stick mapping for Acro mode using the values above are shown below. +The curve enables a high turn rate at maximum stick input for performing acrobatic maneuvers, and a zone of lower sensitivity close to the stick center for small corrections. ![Acro mode - default input curve](../../assets/flight_modes/acro_mc_input_curve_expo_superexpo_default.png) @@ -47,12 +61,12 @@ You can experiment with the relationships [here](https://www.desmos.com/calculat ## Parameters -| Parameter | Description | -| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [MC_ACRO_EXPO](../advanced_config/parameter_reference.md#MC_ACRO_EXPO) | Acro mode "exponential" factor for tuning the stick input curve shape for roll and pitch. Values: 0 Purely linear input curve 1 Purely cubic input curve. Default: 0.69. | -| [MC_ACRO_EXPO_Y](../advanced_config/parameter_reference.md#MC_ACRO_EXPO_Y) | Acro mode "exponential" factor for tuning the stick input curve shape for yaw. Values: 0 Purely linear input curve 1 Purely cubic input curve. Default: 0.69. | -| [MC_ACRO_SUPEXPO](../advanced_config/parameter_reference.md#MC_ACRO_SUPEXPO) | Acro mode "SuperExpo" factor for refining stick input curve shape for the roll and pitch axes (tuned using `MC_ACRO_EXPO`. Values: 0 Pure Expo function, 0.7 reasonable shape enhancement for intuitive stick feel, 0.95 very strong bent input curve only near maxima have effect. Default: 0.7. | -| [MC_ACRO_SUPEXPOY](../advanced_config/parameter_reference.md#MC_ACRO_SUPEXPOY) | Acro mode "SuperExpo" factor for refining stick input curve shape for the yaw axis (tuned using `MC_ACRO_EXPO_Y`. Values: 0 Pure Expo function, 0.7 reasonable shape enhancement for intuitive stick feel, 0.95 very strong bent input curve only near maxima have effect. Default: 0.7. | -| [MC_ACRO_P_MAX](../advanced_config/parameter_reference.md#MC_ACRO_P_MAX) | Max acro pitch rate. Default: 2 turns per second (720.0 deg/s). | -| [MC_ACRO_R_MAX](../advanced_config/parameter_reference.md#MC_ACRO_R_MAX) | Max acro roll rate. Default: 2 turns per second (720.0 deg/s). | -| [MC_ACRO_Y_MAX](../advanced_config/parameter_reference.md#MC_ACRO_Y_MAX) | Max acro yaw rate. Default: 1.5 turns per second (540.0 degrees/s). | +| Parameter | Description | +| ----------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| [MC_ACRO_EXPO](../advanced_config/parameter_reference.md#MC_ACRO_EXPO) | Acro mode "exponential" factor for tuning the stick input curve shape for roll and pitch. Values: `0` Purely linear input curve, `1` Purely cubic input curve. Default: `0`. | +| [MC_ACRO_EXPO_Y](../advanced_config/parameter_reference.md#MC_ACRO_EXPO_Y) | Acro mode "exponential" factor for tuning the stick input curve shape for yaw. Values: `0` Purely linear input curve, `1` Purely cubic input curve. Default: `0`.69. | +| [MC_ACRO_SUPEXPO](../advanced_config/parameter_reference.md#MC_ACRO_SUPEXPO) | Acro mode "SuperExpo" factor for refining stick input curve shape for the roll and pitch axes (tuned using `MC_ACRO_EXPO`). Values: 0 Pure Expo function, 0.7 reasonable shape enhancement for intuitive stick feel, 0.95 very strong bent input curve only near maxima have effect. Default: `0`. | +| [MC_ACRO_SUPEXPOY](../advanced_config/parameter_reference.md#MC_ACRO_SUPEXPOY) | Acro mode "SuperExpo" factor for refining stick input curve shape for the yaw axis (tuned using `MC_ACRO_EXPO_Y`). Values: `0` Pure Expo function, `0.7` reasonable shape enhancement for intuitive stick feel, `0.95` very strong bent input curve only near maxima have effect. Default: `0`. | +| [MC_ACRO_P_MAX](../advanced_config/parameter_reference.md#MC_ACRO_P_MAX) | Max acro pitch rate. Default: `100.0` deg/s. | +| [MC_ACRO_R_MAX](../advanced_config/parameter_reference.md#MC_ACRO_R_MAX) | Max acro roll rate. Default: `100` deg/s. | +| [MC_ACRO_Y_MAX](../advanced_config/parameter_reference.md#MC_ACRO_Y_MAX) | Max acro yaw rate. Default: `100` deg/s. |