Sub: allow stabilized modes to reach more aggressive attitudes #29510
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Both changes ROLL_PITCH_INPUT_MAX and change the joystick code to consume the now-relaxed angle_max parameter instead of a hardcoded angle.
peterbarker
reviewed
Mar 12, 2025
| @@ -150,6 +150,7 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t | |||
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| void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held) | |||
| { | |||
| float angle_max = aparm.angle_max/10; // convert from deg*100 to deg*10 | |||
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Is this really in decidegrees?! That's not a unit we've really used in ArduPilot.
I mean, I can see that it's multiplying a centdegrees by 10, which would give decidegrees, but isn't this really "your maximum trim angle is 10% of your maximum angle in degrees
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Suggested change
| float angle_max = aparm.angle_max/10; // convert from deg*100 to deg*10 | |
| const float trim_angle_max = aparm.angle_max * 0.1; // trim angle is 10% of the maximum angle (degrees) |
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hmmm this was checked on a realvehicle. I did find it weird but I assumed it was just some ardusub oddty. Now think it is a deeper issue of how trim is being done. I'll think about it a bit
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This increases ROLL_PITCH_INPUT_MAX (which is used elsewhere to constrain angle_max) and changes the joystick code to consume the now-relaxed angle_max parameter instead of a hardcoded
200.