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Adjustable control smoothness for fixed wing navigation #5655

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harkal
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@harkal harkal commented Apr 30, 2020

This adds a dynamic smoothness control in the fixed wing navigation code. More specifically it adds the configuration variable nav_fw_control_smoothness.

The accepted values range from 0 to 9, with zero the defaulting to the original iNav behaviour. Increasing the nav_fw_control_smoothness value causes iNav to filter more aggressively the roll and pitch commands in navigation modes.

This results in less abrupt and jerky movements when engaging RTL for example. The turn is applied much smoother and resembles more what a human pilot would command with the stick.

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@digitalentity digitalentity left a comment

LGTM

@digitalentity digitalentity added this to the 2.5 milestone May 1, 2020
@digitalentity digitalentity merged commit 1df52a9 into iNavFlight:development May 4, 2020
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@harkal harkal deleted the adjustable_control_smoothness branch May 4, 2020
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2 participants