Copter: split ACRO_P into ACRO_RP_P and ACRO_YAW_P

ArduCopter/ArduCopter.pde

@@ -2212,9 +2212,14 @@ static void tuning(){
         wp_nav.set_horizontal_velocity(g.rc_6.control_in);
         break;
 
-    // Acro and other tuning
-    case CH6_ACRO_KP:
-        g.acro_p = tuning_value;
+    // Acro roll pitch gain
+    case CH6_ACRO_RP_KP:
+        g.acro_rp_p = tuning_value;
+        break;
+
+    // Acro yaw gain
+    case CH6_ACRO_YAW_KP:
+        g.acro_yaw_p = tuning_value;
         break;
 
     case CH6_RELAY:

ArduCopter/Attitude.pde

@@ -73,7 +73,7 @@ get_stabilize_yaw(int32_t target_angle)
 static void
 get_acro_roll(int32_t target_rate)
 {
-    target_rate = target_rate * g.acro_p;
+    target_rate = target_rate * g.acro_rp_p;
 
     // set targets for rate controller
     set_roll_rate_target(target_rate, BODY_FRAME);
@@ -82,7 +82,7 @@ get_acro_roll(int32_t target_rate)
 static void
 get_acro_pitch(int32_t target_rate)
 {
-    target_rate = target_rate * g.acro_p;
+    target_rate = target_rate * g.acro_rp_p;
 
     // set targets for rate controller
     set_pitch_rate_target(target_rate, BODY_FRAME);
@@ -91,7 +91,7 @@ get_acro_pitch(int32_t target_rate)
 static void
 get_acro_yaw(int32_t target_rate)
 {
-    target_rate = target_rate * g.acro_p;
+    target_rate = target_rate * g.acro_yaw_p;
 
     // set targets for rate controller
     set_yaw_rate_target(target_rate, BODY_FRAME);
@@ -154,7 +154,7 @@ get_roll_rate_stabilized_bf(int32_t stick_angle)
     static float angle_error = 0;
 
     // convert the input to the desired body frame roll rate
-    int32_t rate_request = stick_angle * g.acro_p;
+    int32_t rate_request = stick_angle * g.acro_rp_p;
 
     if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
         rate_request += acro_roll_rate;
@@ -193,7 +193,7 @@ get_pitch_rate_stabilized_bf(int32_t stick_angle)
     static float angle_error = 0;
 
     // convert the input to the desired body frame pitch rate
-    int32_t rate_request = stick_angle * g.acro_p;
+    int32_t rate_request = stick_angle * g.acro_rp_p;
 
     if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
         rate_request += acro_pitch_rate;
@@ -232,7 +232,7 @@ get_yaw_rate_stabilized_bf(int32_t stick_angle)
     static float angle_error = 0;
 
     // convert the input to the desired body frame yaw rate
-    int32_t rate_request = stick_angle * g.acro_p;
+    int32_t rate_request = stick_angle * g.acro_yaw_p;
 
     if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
         rate_request += acro_yaw_rate;
@@ -271,7 +271,7 @@ get_roll_rate_stabilized_ef(int32_t stick_angle)
     int32_t angle_error = 0;
 
     // convert the input to the desired roll rate
-    int32_t target_rate = stick_angle * g.acro_p - (acro_roll * g.acro_balance_roll);
+    int32_t target_rate = stick_angle * g.acro_rp_p - (acro_roll * g.acro_balance_roll);
 
     // convert the input to the desired roll rate
     acro_roll += target_rate * G_Dt;
@@ -312,7 +312,7 @@ get_pitch_rate_stabilized_ef(int32_t stick_angle)
     int32_t angle_error = 0;
 
     // convert the input to the desired pitch rate
-    int32_t target_rate = stick_angle * g.acro_p - (acro_pitch * g.acro_balance_pitch);
+    int32_t target_rate = stick_angle * g.acro_rp_p - (acro_pitch * g.acro_balance_pitch);
 
     // convert the input to the desired pitch rate
     acro_pitch += target_rate * G_Dt;
@@ -354,7 +354,7 @@ get_yaw_rate_stabilized_ef(int32_t stick_angle)
     int32_t angle_error = 0;
 
     // convert the input to the desired yaw rate
-    int32_t target_rate = stick_angle * g.acro_p;
+    int32_t target_rate = stick_angle * g.acro_yaw_p;
 
     // convert the input to the desired yaw rate
     nav_yaw += target_rate * G_Dt;
@@ -879,7 +879,7 @@ static void get_look_ahead_yaw(int16_t pilot_yaw)
         nav_yaw = get_yaw_slew(nav_yaw, g_gps->ground_course_cd, AUTO_YAW_SLEW_RATE);
         get_stabilize_yaw(wrap_360_cd(nav_yaw + pilot_yaw));   // Allow pilot to "skid" around corners up to 45 degrees
     }else{
-        nav_yaw += pilot_yaw * g.acro_p * G_Dt;
+        nav_yaw += pilot_yaw * g.acro_yaw_p * G_Dt;
         nav_yaw = wrap_360_cd(nav_yaw);
         get_stabilize_yaw(nav_yaw);
     }

ArduCopter/Parameters.h

@@ -233,7 +233,7 @@ public:
         //
         // 220: PI/D Controllers
         //
-        k_param_acro_p = 221,
+        k_param_acro_rp_p = 221,
         k_param_axis_lock_p,    // remove
         k_param_pid_rate_roll,
         k_param_pid_rate_pitch,
@@ -255,7 +255,8 @@ public:
         k_param_acro_balance_pitch_old, // 240 - remove
         k_param_pid_throttle_accel,
         k_param_acro_balance_roll,
-        k_param_acro_balance_pitch, // 243
+        k_param_acro_balance_pitch,
+        k_param_acro_yaw_p, // 244
 
         // 254,255: reserved
     };
@@ -377,7 +378,8 @@ public:
     AP_Int16                rc_speed; // speed of fast RC Channels in Hz
 
     // Acro parameters
-    AP_Float                acro_p;
+    AP_Float                acro_rp_p;
+    AP_Float                acro_yaw_p;
     AP_Float                acro_balance_roll;
     AP_Float                acro_balance_pitch;
     AP_Int8                 acro_trainer;

ArduCopter/Parameters.pde

@@ -378,7 +378,7 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @DisplayName: Channel 6 Tuning
     // @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
     // @User: Standard
-    // @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,14:Altitude Hold kP,7:Throttle Rate kP,37:Throttle Rate kD,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,12:Loiter Pos kP,22:Loiter Rate kP,28:Loiter Rate kI,23:Loiter Rate kD,10:WP Speed,25:Acro kP,9:Relay On/Off,13:Heli Ext Gyro,17:OF Loiter kP,18:OF Loiter kI,19:OF Loiter kD,30:AHRS Yaw kP,31:AHRS kP,32:INAV_TC,38:Declination,39:Circle Rate
+    // @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,14:Altitude Hold kP,7:Throttle Rate kP,37:Throttle Rate kD,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,12:Loiter Pos kP,22:Loiter Rate kP,28:Loiter Rate kI,23:Loiter Rate kD,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,9:Relay On/Off,13:Heli Ext Gyro,17:OF Loiter kP,18:OF Loiter kI,19:OF Loiter kD,30:AHRS Yaw kP,31:AHRS kP,32:INAV_TC,38:Declination,39:Circle Rate
     GSCALAR(radio_tuning, "TUNE",                   0),
 
     // @Param: TUNE_LOW
@@ -514,12 +514,19 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Advanced
     GSCALAR(rc_speed, "RC_SPEED",              RC_FAST_SPEED),
 
-    // @Param: ACRO_P
-    // @DisplayName: Acro P gain
-    // @Description: Used to convert pilot roll, pitch and yaw input into a dssired rate of rotation in ACRO mode.  Higher values mean faster rate of rotation.
+    // @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.
     // @Range: 1 10
     // @User: Standard
-    GSCALAR(acro_p,                 "ACRO_P",           ACRO_P),
+    GSCALAR(acro_rp_p,                 "ACRO_RP_P",           ACRO_RP_P),
+
+    // @Param: ACRO_YAW_P
+    // @DisplayName: Acro Yaw P gain
+    // @Description: Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes.  Higher values mean faster rate of rotation.
+    // @Range: 1 10
+    // @User: Standard
+    GSCALAR(acro_yaw_p,                 "ACRO_YAW_P",           ACRO_YAW_P),
 
     // @Param: ACRO_BAL_ROLL
     // @DisplayName: Acro Balance Roll

ArduCopter/config.h

@@ -758,12 +758,12 @@
 //
 
 // Acro mode gains
-#ifndef ACRO_P
- # define ACRO_P                 4.5f
+#ifndef ACRO_RP_P
+ # define ACRO_RP_P                 4.5f
 #endif
 
-#ifndef AXIS_LOCK_ENABLED
- # define AXIS_LOCK_ENABLED      ENABLED
+#ifndef ACRO_YAW_P
+ # define ACRO_YAW_P                4.5f
 #endif
 
 // Stabilize (angle controller) gains

ArduCopter/defines.h

@@ -164,7 +164,8 @@
 #define CH6_LOITER_RATE_KI              28  // loiter rate controller's I term (speed error to tilt angle)
 #define CH6_LOITER_RATE_KD              23  // loiter rate controller's D term (speed error to tilt angle)
 #define CH6_WP_SPEED                    10  // maximum speed to next way point (0 to 10m/s)
-#define CH6_ACRO_KP                     25  // acro controller's P term.  converts pilot input to a desired roll, pitch or yaw rate
+#define CH6_ACRO_RP_KP                  25  // acro controller's P term.  converts pilot input to a desired roll, pitch or yaw rate
+#define CH6_ACRO_YAW_KP                 40  // acro controller's P term.  converts pilot input to a desired roll, pitch or yaw rate
 #define CH6_RELAY                       9   // switch relay on if ch6 high, off if low
 #define CH6_HELI_EXTERNAL_GYRO          13  // TradHeli specific external tail gyro gain
 #define CH6_OPTFLOW_KP                  17  // optical flow loiter controller's P term (position error to tilt angle)