Less slewing but half pitch

CWRUbotix · Feb 22, 2025 · f3e0ef7 · f3e0ef7
1 parent 0fdc2f4
commit f3e0ef7
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/surface/flight_control/flight_control/manual_control_node.py b/src/surface/flight_control/flight_control/manual_control_node.py
@@ -151,7 +151,7 @@ def joystick_to_pixhawk(self, msg: Joy) -> None:
             lateral=-float(axes[self.profile.lateral]),
             vertical=float(axes[self.profile.vertical_down] - axes[self.profile.vertical_up]) / 2,
             roll=float(buttons[self.profile.roll_left] - buttons[self.profile.roll_right]),
-            pitch=float(axes[self.profile.pitch]),
+            pitch=float(axes[self.profile.pitch] / 2),
             yaw=-float(axes[self.profile.yaw]),
             author=PixhawkInstruction.MANUAL_CONTROL,
         )

diff --git a/src/surface/flight_control/flight_control/multiplexer.py b/src/surface/flight_control/flight_control/multiplexer.py
@@ -31,9 +31,9 @@
 
 EXTENSIONS_CODE: Final = 0b00000011
 
-NEXT_INSTR_FRAC: Final = 0.05
+NEXT_INSTR_FRAC: Final = 0.1
 PREV_INSTR_FRAC: Final = 1 - NEXT_INSTR_FRAC
-INSTR_EPSILON: Final = 0.05
+INSTR_EPSILON: Final = 0.1
 
 
 def joystick_map(raw: float) -> float: