ArduCopter: changed ACRO_ROLL_STABILIZE and ACRO_PITCH_STABILIZE to parameters

Changes on behalf of Leonard Hall

ArduCopter/Attitude.pde

@@ -154,7 +154,7 @@ 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 - (roll_axis * ACRO_ROLL_STABILISE)/100;
+    int32_t target_rate = stick_angle * g.acro_p - (roll_axis * g.acro_balance_roll)/100;
 
     // convert the input to the desired roll rate
     roll_axis += target_rate * G_Dt;
@@ -190,7 +190,7 @@ 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 - (pitch_axis * ACRO_PITCH_STABILISE)/100;
+    int32_t target_rate = stick_angle * g.acro_p - (pitch_axis * g.acro_balance_pitch)/100;
 
     // convert the input to the desired pitch rate
     pitch_axis += target_rate * G_Dt;

ArduCopter/Parameters.h

@@ -212,6 +212,8 @@ public:
         k_param_pid_throttle,
         k_param_pid_optflow_roll,
         k_param_pid_optflow_pitch,
+        k_param_acro_balance_roll,
+        k_param_acro_balance_pitch,
 
         // 254,255: reserved
     };
@@ -337,10 +339,13 @@ public:
     AP_Float                stabilize_d;
     AP_Float                stabilize_d_schedule;
 
-    // PI/D controllers
+    // Acro parameters
     AP_Float                acro_p;
     AP_Float                axis_lock_p;
+    AP_Int16                acro_balance_roll;
+    AP_Int16                acro_balance_pitch;
 
+    // PI/D controllers
     AC_PID                  pid_rate_roll;
     AC_PID                  pid_rate_pitch;
     AC_PID                  pid_rate_yaw;

ArduCopter/Parameters.pde

@@ -307,10 +307,27 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Advanced
     GSCALAR(stabilize_d_schedule, "STAB_D_S",  STABILIZE_D_SCHEDULE),
 
-    GSCALAR(acro_p,                         "ACRO_P",      ACRO_P),
-    GSCALAR(axis_lock_p,            "AXIS_P",      AXIS_LOCK_P),
-    GSCALAR(axis_enabled,           "AXIS_ENABLE", AXIS_LOCK_ENABLED),
-    GSCALAR(copter_leds_mode,       "LED_MODE",    9),
+    // Acro parameters
+    GSCALAR(acro_p,                 "ACRO_P",           ACRO_P),
+    GSCALAR(axis_lock_p,            "AXIS_P",           AXIS_LOCK_P),
+    GSCALAR(axis_enabled,           "AXIS_ENABLE",      AXIS_LOCK_ENABLED),
+    // @Param: ACRO_BAL_ROLL
+    // @DisplayName: Acro Balance Roll
+    // @Description: rate at which roll angle returns to level in acro mode
+    // @Range: 0 300
+    // @Increment: 1
+    // @User: Advanced
+    GSCALAR(acro_balance_roll,      "ACRO_BAL_ROLL",    ACRO_BALANCE_ROLL),
+
+    // @Param: ACRO_BAL_PITCH
+    // @DisplayName: Acro Balance Pitch
+    // @Description: rate at which pitch angle returns to level in acro mode
+    // @Range: 0 300
+    // @Increment: 1
+    // @User: Advanced
+    GSCALAR(acro_balance_pitch,     "ACRO_BAL_PITCH",   ACRO_BALANCE_PITCH),
+
+    GSCALAR(copter_leds_mode,       "LED_MODE",         9),
 
     // PID controller
     //---------------

ArduCopter/config.h

@@ -771,12 +771,12 @@
  #define MAX_YAW_OVERSHOOT	1000
 #endif
 
-#ifndef ACRO_ROLL_STABILISE
- #define ACRO_ROLL_STABILISE	100
+#ifndef ACRO_BALANCE_ROLL
+ #define ACRO_BALANCE_ROLL	200
 #endif
 
-#ifndef ACRO_PITCH_STABILISE
- #define ACRO_PITCH_STABILISE	0
+#ifndef ACRO_BALANCE_PITCH
+ #define ACRO_BALANCE_PITCH	200
 #endif
 
 //////////////////////////////////////////////////////////////////////////////