From e9971e78a3be9f0c9af443829f9333abf37142d0 Mon Sep 17 00:00:00 2001 From: TonyZhang Date: Sun, 17 Mar 2024 00:47:23 +0800 Subject: [PATCH] lower the remote sensitivity reduce the overshoot of pitch --- dev/application/param_adjusts/pa_hero/pa_hero.cpp | 6 +++--- dev/application/vehicles/hero/user_hero.cpp | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/dev/application/param_adjusts/pa_hero/pa_hero.cpp b/dev/application/param_adjusts/pa_hero/pa_hero.cpp index 3a8f3edd..0960abe5 100644 --- 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 index b639739b..0f51d565 100644 --- 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);