Copter: add ANGLE_RATE_MAX param

Limits the maximum rotation rate requested by the angle controller which
is used in stabilize, loiter, rtl and auto flight modes

ArduCopter/Attitude.pde

@@ -36,7 +36,7 @@ get_stabilize_roll(int32_t target_angle)
 
     // constrain the target rate
     if (!ap.disable_stab_rate_limit) {
-        target_rate = constrain_int32(target_rate, -STABILIZE_RATE_LIMIT, STABILIZE_RATE_LIMIT);
+        target_rate = constrain_int32(target_rate, -g.angle_rate_max, g.angle_rate_max);
     }
 
     // set targets for rate controller
@@ -54,7 +54,7 @@ get_stabilize_pitch(int32_t target_angle)
 
     // constrain the target rate
     if (!ap.disable_stab_rate_limit) {
-        target_rate = constrain_int32(target_rate, -STABILIZE_RATE_LIMIT, STABILIZE_RATE_LIMIT);
+        target_rate = constrain_int32(target_rate, -g.angle_rate_max, g.angle_rate_max);
     }
 
     // set targets for rate controller

ArduCopter/Parameters.h

@@ -92,7 +92,8 @@ public:
         k_param_angle_max,
         k_param_gps_hdop_good,
         k_param_battery,
-        k_param_fs_batt_mah,             // 37
+        k_param_fs_batt_mah,
+        k_param_angle_rate_max,         // 38
 
         // 65: AP_Limits Library
         k_param_limits = 65,            // deprecated - remove
@@ -302,6 +303,7 @@ public:
     AP_Int8         rssi_pin;
     AP_Int8         wp_yaw_behavior;            // controls how the autopilot controls yaw during missions
     AP_Int16        angle_max;                  // maximum lean angle of the copter in centi-degrees
+    AP_Int32        angle_rate_max;             // maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
 
     // Waypoints
     //

ArduCopter/Parameters.pde

@@ -416,6 +416,13 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Advanced
     GSCALAR(angle_max, "ANGLE_MAX",                 DEFAULT_ANGLE_MAX),
 
+    // @Param: ANGLE_RATE_MAX
+    // @DisplayName: Angle Rate max
+    // @Description: maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
+    // @Range 90000 250000
+    // @User: Advanced
+    GSCALAR(angle_rate_max, "ANGLE_RATE_MAX",  ANGLE_RATE_MAX),
+
 #if FRAME_CONFIG ==     HELI_FRAME
     // @Group: HS1_
     // @Path: ../libraries/RC_Channel/RC_Channel.cpp

ArduCopter/config.h

@@ -756,10 +756,6 @@
  # define STABILIZE_PITCH_IMAX   	0
 #endif
 
-#ifndef STABILIZE_RATE_LIMIT
- # define STABILIZE_RATE_LIMIT      18000
-#endif
-
 #ifndef  STABILIZE_YAW_P
  # define STABILIZE_YAW_P           4.5f            // increase for more aggressive Yaw Hold, decrease if it's bouncy
 #endif
@@ -784,6 +780,9 @@
 #ifndef DEFAULT_ANGLE_MAX
  # define DEFAULT_ANGLE_MAX         4500            // ANGLE_MAX parameters default value
 #endif
+#ifndef ANGLE_RATE_MAX
+ # define ANGLE_RATE_MAX            18000           // default maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
+#endif
 #ifndef RATE_ROLL_P
  # define RATE_ROLL_P        		0.150f
 #endif