Remove parameters MPC_{XY/Z/YAW}_MAN_EXPO and use default value instead

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

@@ -677,7 +677,6 @@
 1	1	MPC_VEL_MAN_SIDE	-1.000000000000000000	9
 1	1	MPC_XY_CRUISE	5.000000000000000000	9
 1	1	MPC_XY_ERR_MAX	2.000000000000000000	9
-1	1	MPC_XY_MAN_EXPO	0.600000023841857910	9
 1	1	MPC_XY_P	0.949999988079071045	9
 1	1	MPC_XY_TRAJ_P	0.500000000000000000	9
 1	1	MPC_XY_VEL_ALL	-10.000000000000000000	9
@@ -687,9 +686,7 @@
 1	1	MPC_XY_VEL_P_ACC	1.799999952316284180	9
 1	1	MPC_YAWRAUTO_ACC	60.000000000000000000	9
 1	1	MPC_YAWRAUTO_MAX	45.000000000000000000	9
-1	1	MPC_YAW_EXPO	0.600000023841857910	9
 1	1	MPC_YAW_MODE	0	6
-1	1	MPC_Z_MAN_EXPO	0.600000023841857910	9
 1	1	MPC_Z_P	1.000000000000000000	9
 1	1	MPC_Z_VEL_ALL	-3.000000000000000000	9
 1	1	MPC_Z_VEL_D_ACC	0.000000000000000000	9

src/lib/sticks/Sticks.hpp

@@ -64,10 +64,10 @@ public:
 	float getYaw() const { return _positions(2); }
 	float getThrottleZeroCentered() const { return _positions(3); }
 
-	float getRollExpo() const { return math::expo_deadzone(getRoll(), _param_mpc_xy_man_expo.get(), _param_man_deadzone.get()); }
+	float getRollExpo(float expo = .6f) const { return math::expo_deadzone(getRoll(), expo, _param_man_deadzone.get()); }
-	float getPitchExpo() const { return math::expo_deadzone(getPitch(), _param_mpc_xy_man_expo.get(), _param_man_deadzone.get()); }
+	float getPitchExpo(float expo = .6f) const { return math::expo_deadzone(getPitch(), expo, _param_man_deadzone.get()); }
-	float getYawExpo() const { return math::expo_deadzone(getYaw(), _param_mpc_yaw_expo.get(), _param_man_deadzone.get()); }
+	float getYawExpo(float expo = .6f) const { return math::expo_deadzone(getYaw(), expo, _param_man_deadzone.get()); }
-	float getThrottleZeroCenteredExpo() const { return math::expo_deadzone(getThrottleZeroCentered(), _param_mpc_z_man_expo.get(), _param_man_deadzone.get()); }
+	float getThrottleZeroCenteredExpo(float expo = .6f) const { return math::expo_deadzone(getThrottleZeroCentered(), expo, _param_man_deadzone.get()); }
 
 	const matrix::Vector2f getPitchRoll() { return {getPitch(), getRoll()}; }
 	const matrix::Vector2f getPitchRollExpo() { return {getPitchExpo(), getRollExpo()}; }
@@ -98,9 +98,6 @@ private:
 	uORB::Subscription _failsafe_flags_sub{ORB_ID(failsafe_flags)};
 
 	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::MAN_DEADZONE>) _param_man_deadzone,
+		(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/mc_att_control/mc_att_control.hpp

@@ -167,7 +167,6 @@ private:
 		(ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max,
 		(ParamFloat<px4::params::MPC_THR_HOVER>) _param_mpc_thr_hover,
 		(ParamInt<px4::params::MPC_THR_CURVE>) _param_mpc_thr_curve,
-		(ParamFloat<px4::params::MPC_YAW_EXPO>) _param_mpc_yaw_expo,
 
 		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time
 	)

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -146,8 +146,7 @@ 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(),
+	const float yaw_stick_input = math::expo_deadzone(_manual_control_setpoint.yaw, .6f, _param_man_deadzone.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

@@ -129,54 +129,3 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.f);
  * @group Multicopter Position Control
  */
 PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.f);
-
-/**
- * Manual position control stick exponential curve sensitivity
- *
- * The higher the value the less sensitivity the stick has around zero
- * while still reaching the maximum value with full stick deflection.
- *
- * 0 Purely linear input curve
- * 1 Purely cubic input curve
- *
- * @min 0
- * @max 1
- * @decimal 2
- * @increment 0.01
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_XY_MAN_EXPO, 0.6f);
-
-/**
- * Manual control stick vertical exponential curve
- *
- * The higher the value the less sensitivity the stick has around zero
- * while still reaching the maximum value with full stick deflection.
- *
- * 0 Purely linear input curve
- * 1 Purely cubic input curve
- *
- * @min 0
- * @max 1
- * @decimal 2
- * @increment 0.01
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_Z_MAN_EXPO, 0.6f);
-
-/**
- * Manual control stick yaw rotation exponential curve
- *
- * The higher the value the less sensitivity the stick has around zero
- * while still reaching the maximum value with full stick deflection.
- *
- * 0 Purely linear input curve
- * 1 Purely cubic input curve
- *
- * @min 0
- * @max 1
- * @decimal 2
- * @increment 0.01
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_YAW_EXPO, 0.6f);