Sticks: globalize MPC_HOLD_DZ to MAN_DEADZONE

docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params

@@ -645,7 +645,6 @@
 1	1	MPC_ACC_HOR_MAX	5.000000000000000000	9
 1	1	MPC_ACC_UP_MAX	4.000000000000000000	9
 1	1	MPC_ALT_MODE	2	6
-1	1	MPC_HOLD_DZ	0.100000001490116119	9
 1	1	MPC_HOLD_MAX_XY	0.800000011920928955	9
 1	1	MPC_HOLD_MAX_Z	0.600000023841857910	9
 1	1	MPC_JERK_AUTO	4.000000000000000000	9

docs/en/flight_modes_mc/position.md

@@ -43,7 +43,7 @@ While very rare on a well calibrated vehicle, sometimes there may be problems wi
 RC mode where roll, pitch, throttle (RPT) sticks control movement in corresponding axes/directions.
 Centered sticks level vehicle and hold it to fixed altitude and position against wind.
 
-- Centered roll, pitch, throttle sticks (within RC deadzone [MPC_HOLD_DZ](../advanced_config/parameter_reference.md#MPC_HOLD_DZ)) hold x, y, z position steady against any disturbance like wind.
+- Centered roll, pitch, throttle sticks (within RC deadzone [MAN_DEADZONE](../advanced_config/parameter_reference.md#MAN_DEADZONE)) hold x, y, z position steady against any disturbance like wind.
 - Outside center:
   - Roll/Pitch sticks control horizontal acceleration over ground in the vehicle's left-right and forward-back directions (respectively).
   - Throttle stick controls speed of ascent-descent.
@@ -51,10 +51,10 @@ Centered sticks level vehicle and hold it to fixed altitude and position against
 - Takeoff:
   - When landed, the vehicle will take off if the throttle stick is raised above 62.5% percent (of the full range from bottom).
 - Global position estimate is required.
-- Manual control input is required (such as RC control, joystick). 
+- Manual control input is required (such as RC control, joystick).
-  - Roll, Pitch, Throttle: Assistance from autopilot to hold position against wind. 
+  - Roll, Pitch, Throttle: Assistance from autopilot to hold position against wind.
-  - Yaw: Assistance from autopilot to stabilize the attitude rate. 
+  - Yaw: Assistance from autopilot to stabilize the attitude rate.
-    Position of RC stick maps to the rate of rotation of vehicle in that orientation. 
+    Position of RC stick maps to the rate of rotation of vehicle in that orientation.
 
 ### Parameters
 
@@ -62,7 +62,7 @@ All the parameters in the [Multicopter Position Control](../advanced_config/para
 
 | Parameter                                                                                                   | Description                                                                                                                                                                                                                                                                                                  |
 | ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| <a id="MPC_HOLD_DZ"></a>[MPC_HOLD_DZ](../advanced_config/parameter_reference.md#MPC_HOLD_DZ)                | Deadzone of sticks where position hold is enabled. Default: 0.1 (10% of full stick range).                                                                                                                                                                                                                   |
+| <a id="MAN_DEADZONE"></a>[MAN_DEADZONE](../advanced_config/parameter_reference.md#MAN_DEADZONE)                | Deadzone of sticks where position hold is enabled. Default: 0.1 (10% of full stick range).                                                                                                                                                                                                                   |
 | <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | Maximum vertical ascent velocity. Default: 3 m/s.                                                                                                                                                                                                                                                            |
 | <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | Maximum vertical descent velocity. Default: 1 m/s.                                                                                                                                                                                                                                                           |
 | <a id="MPC_LAND_ALT1"></a>[MPC_LAND_ALT1](../advanced_config/parameter_reference.md#MPC_LAND_ALT1)          | Altitude for triggering first phase of slow landing. Below this altitude descending velocity gets limited to a value between [MPC_Z_VEL_MAX_DN](#MPC_Z_VEL_MAX_DN) (or `MPC_Z_V_AUTO_DN`) and [MPC_LAND_SPEED](#MPC_LAND_SPEED). Value needs to be higher than [MPC_LAND_ALT2](#MPC_LAND_ALT2). Default 10m. |

src/lib/sticks/Sticks.cpp

@@ -57,10 +57,10 @@ bool Sticks::checkAndUpdateStickInputs()
 		_positions(3) = manual_control_setpoint.yaw;
 
 		// Exponential scale
-		_positions_expo(0) = math::expo_deadzone(_positions(0), _param_mpc_xy_man_expo.get(), _param_mpc_hold_dz.get());
+		_positions_expo(0) = math::expo_deadzone(_positions(0), _param_mpc_xy_man_expo.get(), _param_man_deadzone.get());
-		_positions_expo(1) = math::expo_deadzone(_positions(1), _param_mpc_xy_man_expo.get(), _param_mpc_hold_dz.get());
+		_positions_expo(1) = math::expo_deadzone(_positions(1), _param_mpc_xy_man_expo.get(), _param_man_deadzone.get());
-		_positions_expo(2) = math::expo_deadzone(_positions(2), _param_mpc_z_man_expo.get(),  _param_mpc_hold_dz.get());
+		_positions_expo(2) = math::expo_deadzone(_positions(2), _param_mpc_z_man_expo.get(),  _param_man_deadzone.get());
-		_positions_expo(3) = math::expo_deadzone(_positions(3), _param_mpc_yaw_expo.get(),    _param_mpc_hold_dz.get());
+		_positions_expo(3) = math::expo_deadzone(_positions(3), _param_mpc_yaw_expo.get(),    _param_man_deadzone.get());
 
 		_aux_positions(0) = manual_control_setpoint.aux1;
 		_aux_positions(1) = manual_control_setpoint.aux2;

src/lib/sticks/Sticks.hpp

@@ -101,7 +101,7 @@ private:
 	uORB::Subscription _failsafe_flags_sub{ORB_ID(failsafe_flags)};
 
 	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::MPC_HOLD_DZ>) _param_mpc_hold_dz,
+		(ParamFloat<px4::params::MAN_DEADZONE>) _param_man_deadzone,
 		(ParamFloat<px4::params::MPC_XY_MAN_EXPO>) _param_mpc_xy_man_expo,
 		(ParamFloat<px4::params::MPC_Z_MAN_EXPO>) _param_mpc_z_man_expo,
 		(ParamFloat<px4::params::MPC_YAW_EXPO>) _param_mpc_yaw_expo

src/modules/manual_control/manual_control_params.c

@@ -58,3 +58,20 @@ PARAM_DEFINE_INT32(MAN_ARM_GESTURE, 1);
  * @max 15
  */
 PARAM_DEFINE_FLOAT(MAN_KILL_GEST_T, -1.f);
+
+/**
+ * Deadzone for sticks (only specific use cases)
+ *
+ * Range around stick center ignored to prevent
+ * vehicle drift from stick hardware inaccuracy.
+ *
+ * Does not apply to any precise constant input like
+ * throttle and attitude or rate piloting.
+ *
+ * @min 0
+ * @max 1
+ * @decimal 2
+ * @increment 0.01
+ * @group Manual Control
+ */
+PARAM_DEFINE_FLOAT(MAN_DEADZONE, 0.1f);

src/modules/mc_att_control/mc_att_control.hpp

@@ -161,7 +161,7 @@ private:
 		(ParamFloat<px4::params::MC_YAWRATE_MAX>)   _param_mc_yawrate_max,
 
 		/* Stabilized mode params */
-		(ParamFloat<px4::params::MPC_HOLD_DZ>) _param_mpc_hold_dz,
+		(ParamFloat<px4::params::MAN_DEADZONE>) _param_man_deadzone,
 		(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _param_mpc_man_tilt_max,
 		(ParamFloat<px4::params::MPC_MANTHR_MIN>) _param_mpc_manthr_min,
 		(ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max,

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -147,7 +147,7 @@ MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt)
 
 	const float yaw = Eulerf(q).psi();
 	const float yaw_stick_input = math::expo_deadzone(_manual_control_setpoint.yaw, _param_mpc_yaw_expo.get(),
-				      _param_mpc_hold_dz.get());
+				      _param_man_deadzone.get());
 	_stick_yaw.generateYawSetpoint(attitude_setpoint.yaw_sp_move_rate, _yaw_setpoint_stabilized, yaw_stick_input, yaw, dt,
 				       _unaided_heading);
 

src/modules/mc_pos_control/multicopter_position_mode_params.c

@@ -130,19 +130,6 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.f);
  */
 PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.f);
 
-/**
- * Deadzone for sticks in manual piloted modes
- *
- * Does not apply to manual throttle and direct attitude piloting by stick.
- *
- * @min 0
- * @max 1
- * @decimal 2
- * @increment 0.01
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_HOLD_DZ, 0.1f);
-
 /**
  * Manual position control stick exponential curve sensitivity
  *