Limit Iterm on FW depending on stick position #4023
Conversation
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Idea is to keep ITERM active when stick is not moving or moving slow and limit ITERM when stick deflection is high? Nice. I would, however, act on |
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@digitalentity this was my original goal, but I quickly realized that in case of too high rates that airplane can not reach, this would lead nowhere. The limit would trigger too soon or too late. On majority of planes this is not a case, but small agile race or freestyle wing can be affected. |
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@DzikuVx if rates are set properly, stick deflection or rateSetpoint won't make a difference. |
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As long as set correctly yes. It's hard to guess the max rates and getting them from blackbox and manu mode is quite complex. Lets see it this will be a working and simplified solution |
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Then we should probably limit it to ACRO mode only. In ANGLE or automatic modes the |
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Good idea with limit to acro actually. I will make that happen |
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@digitalentity now it should work only in Acro. Did not tested yet tho ;) |
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Looks good. Would be interesting to know how it behaves in testing |
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@digitalentity flight tested. Works quite nice. Wing was stoping very nicely at the ends of sharp turns and rolls. No more bounceback or follow due to misbehaving Iterm. Even when roll rate was somehow 30% above max rate of the wing Either way, I think it's working so either merge for 2.1 or we keep it for next release |
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Let's merge it |
It's not that simple to tune a FW for sharp turns especially when requested rates are close to the hardware limit. Too much or not enough FF leads to bounce-back or even follow-up when stick is released.
Limit in this PR depends on a stick position, not the fact if output is saturated like in case of MR controller since it's harder to determine if any servo is actually at a limit or not.
Experimental, not tested yet