lower the remote sensitivity reduce the overshoot of pitch

Meta-Team · Mar 16, 2024 · e9971e7 · e9971e7
1 parent dc38945
commit e9971e7
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/dev/application/param_adjusts/pa_hero/pa_hero.cpp b/dev/application/param_adjusts/pa_hero/pa_hero.cpp
@@ -285,11 +285,11 @@ class TopControlThread : public BaseStaticThread<512> {
                 }
                 /// Gimbal Response Test through Remote Controller
                 gimbal_yaw_target_angle_ +=
-                        -Remote::rc.ch0 * 0.7f;
+                        -Remote::rc.ch0 *gimbal_rc_yaw_max_speed * USER_THREAD_INTERVAL / 1000.0f;
                 if (Remote::rc.ch1 > 0)
-                    gimbal_pitch_target_angle_ += Remote::rc.ch1 * gimbal_pitch_max_angle * 0.1;
+                    gimbal_pitch_target_angle_ += Remote::rc.ch1 * gimbal_pitch_max_angle * 0.07;
                 else
-                    gimbal_pitch_target_angle_ -= Remote::rc.ch1 * gimbal_pitch_min_angle * 0.1;
+                    gimbal_pitch_target_angle_ -= Remote::rc.ch1 * gimbal_pitch_min_angle * 0.07;
                 VAL_CROP(gimbal_pitch_target_angle_, gimbal_pitch_max_angle, gimbal_pitch_min_angle);
                 // if the right button is up, adjust Pitch only, if it is down, adjust Yaw only
                 // if it is in the middle then both

diff --git a/dev/application/vehicles/hero/user_hero.cpp b/dev/application/vehicles/hero/user_hero.cpp
@@ -63,9 +63,9 @@ void UserH::UserThread::main() {
 
                 float pitch_target;
                 if (Remote::rc.ch1 > 0)
-                    pitch_target += Remote::rc.ch1 * gimbal_pitch_max_angle * 0.1;
+                    pitch_target += Remote::rc.ch1 * gimbal_pitch_max_angle * 0.07;
                 else
-                    pitch_target -= Remote::rc.ch1 * gimbal_pitch_min_angle * 0.1;  // GIMBAL_PITCH_MIN_ANGLE is negative
+                    pitch_target -= Remote::rc.ch1 * gimbal_pitch_min_angle * 0.07;  // GIMBAL_PITCH_MIN_ANGLE is negative
                 // ch1 use up as positive direction, while GimbalLG also use up as positive direction
 
                 VAL_CROP(pitch_target, gimbal_pitch_max_angle, gimbal_pitch_min_angle);