AC_AttitudeControl: ATC_ACC_R/P/Y_MAX renamed and scaled to deg/s/s

[rmackay9]

This is a continuation of PR #32186 and helps to address issue #31562

This PR renames and converts four ATC_xxx parameters so they are in deg instead of centi-degrees:

• ATC_ACCEL_P_MAX (cdeg/s/s) -> - ATC_ACC_P_MAX (deg/s/s)
• ATC_ACCEL_R_MAX (cdeg/s/s) -> - ATC_ACC_R_MAX (deg/s/s)
• ATC_ACCEL_Y_MAX (cdeg/s/s) -> - ATC_ACC_Y_MAX (deg/s/s)
• ATC_SLEW_YAW (cdeg/s) -> - ATC_RATE_WPY_MAX (deg/s)

On quadplane the change appears like this:

• Q_A_ACCEL_P_MAX (cdeg/s/s) -> - Q_A_ACC_P_MAX (deg/s/s)
• Q_A_ACCEL_R_MAX (cdeg/s/s) -> - Q_A_ACC_R_MAX (deg/s/s)
• Q_A_ACCEL_Y_MAX (cdeg/s/s) -> - Q_A_ACC_Y_MAX (deg/s/s)
• Q_A_SLEW_YAW (cdeg/s) -> - Q_A_RATE_WPY_MAX (deg/s)

This has been lightly tested in SITL but only to confirm that the parameter conversion works as expected

[Copilot]

Pull request overview

Renames four attitude-control acceleration/slew parameters and converts their units from centi-degrees to degrees (including QuadPlane and ArduSub variants), updating defaults and parameter conversion logic accordingly.

Changes:

• Introduces new *_ACC_* and *_SLEW_YAW_MAX parameters using deg/s/s and deg/s, deprecating the older *_ACCEL_* and *_SLEW_YAW (cdeg-based) params.
• Adds scaled parameter migration entries to convert existing saved params to the new names/units.
• Updates SITL examples, hardware defaults, frame params, and autotest model/default param sets to use the new parameter names/units.

Reviewed changes

Copilot reviewed 54 out of 54 changed files in this pull request and generated no comments.

Show a summary per file

File	Description
libraries/SITL/examples/Morse/quadcopter.parm	Updates example params to new ATC_ACC_* names and deg-based scaling
libraries/SITL/examples/Morse/quad_scanner.parm	Updates example params to new ATC_ACC_* names and deg-based scaling
libraries/AP_Scripting/examples/config_profiles.lua	Renames scripted profile parameter to ATC_ACC_P_MAX with deg-based value
libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/defaults.parm	Converts board defaults to new ATC_ACC_* names (deg/s/s)
libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/defaults.parm	Converts defaults to ATC_ACC_* and ATC_SLEW_YAW_MAX (deg units)
libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/defaults.parm	Converts defaults to ATC_ACC_* and ATC_SLEW_YAW_MAX (deg units)
libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/defaults.parm	Converts defaults to new ATC_ACC_* names
libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/defaults.parm	Converts defaults to new ATC_ACC_* names
libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm	Converts QuadPlane defaults to Q_A_ACC_* names (deg/s/s)
libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/defaults.parm	Converts defaults to new ATC_ACC_* names
libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/defaults.parm	Converts readonly defaults to new ATC_ACC_* names
libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/defaults.parm	Converts defaults to new ATC_ACC_* names
libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h	Renames Sub yaw-accel default macro to reflect deg-based unit
libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp	Applies new Sub yaw-accel default to renamed param member
libraries/AC_AttitudeControl/AC_AttitudeControl.h	Switches internal storage to deg-based _degss/_degs members and updates defaults
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp	Adds new params, removes old ones, and migrates old param values with scaling
Tools/autotest/quadplane.py	Updates autotest parameter references to Q_A_ACC_* names
Tools/autotest/models/freestyle.param	Converts model params to new ATC_ACC_* and ATC_SLEW_YAW_MAX
Tools/autotest/models/Callisto.param	Converts model params to new ATC_ACC_* and ATC_SLEW_YAW_MAX
Tools/autotest/default_params/quadplane-copter_tailsitter.parm	Converts default params to Q_A_ACC_* names (deg/s/s)
Tools/autotest/default_params/copter-octaquad.parm	Converts default params to ATC_ACC_* names
Tools/autotest/default_params/copter-octaquad-cw-cor.parm	Converts default params to ATC_ACC_* names
Tools/autotest/default_params/copter-octaquad-cor.parm	Converts default params to ATC_ACC_* names
Tools/autotest/default_params/copter-heli.parm	Converts default params to ATC_ACC_* names
Tools/Frame_params/iflight-chimera7-4.2.param	Converts frame params to ATC_ACC_* names (deg/s/s)
Tools/Frame_params/WLToys_V383_HeliQuad.param	Converts frame params to ATC_ACC_* names (deg/s/s)
Tools/Frame_params/Solo-Copter-GreenCube.param	Converts frame params to ATC_ACC_* and ATC_SLEW_YAW_MAX
Tools/Frame_params/QuadPlanes/XPlane-Alia.parm	Converts QuadPlane frame params to Q_A_ACC_* and Q_A_SLEW_YAW_MAX
Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param	Converts QuadPlane frame params to Q_A_ACC_*
Tools/Frame_params/QuadPlanes/Mugin_EV350.param	Converts QuadPlane frame params to Q_A_ACC_*
Tools/Frame_params/QuadPlanes/MFE_StriverMini.param	Converts QuadPlane frame params to Q_A_ACC_*
Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param	Converts QuadPlane frame params to Q_A_ACC_* and Q_A_SLEW_YAW_MAX
Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm	Converts QuadPlane frame params to Q_A_ACC_*
Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param	Converts QuadPlane frame params to Q_A_ACC_* and Q_A_SLEW_YAW_MAX
Tools/Frame_params/Parrot_Bebop2.param	Converts frame params to ATC_ACC_*
Tools/Frame_params/Parrot_Bebop.param	Converts frame params to ATC_ACC_*
Tools/Frame_params/ModalAI/D0013.parm	Converts frame params to ATC_ACC_* using deg-based values
Tools/Frame_params/ModalAI/AutonomyDevKit.parm	Converts frame params to ATC_ACC_* using deg-based values
Tools/Frame_params/Holybro-kospi1.param	Converts frame params to ATC_ACC_*
Tools/Frame_params/Holybro-X500v2-bdshot.param	Converts frame params to ATC_ACC_*
Tools/Frame_params/Holybro-S500.param	Converts frame params to ATC_ACC_*
Tools/Frame_params/Holybro-QAV250.param	Converts frame params to ATC_ACC_*
Tools/Frame_params/Holybro-QAV250-bdshot.param	Converts frame params to ATC_ACC_*
Tools/Frame_params/Hexsoon-td860.param	Converts frame params to ATC_ACC_*
Tools/Frame_params/Hexsoon-edu650.param	Converts frame params to ATC_ACC_*
Tools/Frame_params/Hexsoon-edu450.param	Converts frame params to ATC_ACC_*
Tools/Frame_params/EFlight_Convergence.param	Converts QuadPlane yaw slew param to Q_A_SLEW_YAW_MAX
Tools/Frame_params/EAMS_445.param	Converts frame params to ATC_ACC_*
Tools/Frame_params/DJI_AGRAS_MG-1.param	Converts frame params to ATC_ACC_*
Tools/Frame_params/Amovlab-p200.param	Converts frame param to ATC_ACC_Y_MAX
Tools/Frame_params/3DR_Iris+.param	Converts frame param to ATC_ACC_Y_MAX
ArduSub/Parameters.h	Updates ArduSub defaults table to ATC_ACC_Y_MAX with deg/s/s value
ArduPlane/tailsitter.cpp	Updates tailsitter defaults table to Q_A_ACC_{P,R}_MAX in deg/s/s
ArduPlane/quadplane.cpp	Updates quadplane defaults table to Q_A_ACC_* in deg/s/s

Comments suppressed due to low confidence (4)

libraries/AC_AttitudeControl/AC_AttitudeControl.cpp:1

• The PR adds non-trivial parameter migration (rename + unit scaling) across vehicle types. Please add an autotest that boots with legacy params set (*_ACCEL_* + *_SLEW_YAW), triggers parameter conversion, and asserts the new params exist with correctly scaled values (×0.01) for Copter, ArduSub, and QuadPlane.
  libraries/AC_AttitudeControl/AC_AttitudeControl.cpp:1
• The new SLEW_YAW_MAX documentation says it applies to 'RTL and Auto' only, but the in-code member comment in AC_AttitudeControl.h describes it as applying to 'Loiter, RTL, Auto'. Please align the parameter description with the actual modes where the limit is used to avoid user confusion.
  Tools/autotest/default_params/quadplane-copter_tailsitter.parm:1
• Several converted .parm values appear truncated rather than rounded when scaling by 0.01 (e.g., 207069.531250 cdeg/s/s becomes 2070.69 instead of rounding to 2070.70). To preserve the original tuning as closely as possible, please round to a consistent precision (typically 2 decimals for a ×0.01 conversion) instead of truncating.
  libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h:1
• The macro name mixes the old ACCEL_* terminology with the new unit-based suffix (_DEGSS). Consider renaming this constant to match the updated parameter naming (e.g., AC_ATC_SUB_ACC_Y_MAX_DEFAULT_DEGSS) so it's clearer that it corresponds to ACC_Y_MAX in deg/s/s.

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[lthall]

Line by line looks good. Couple little fixes for the autotests.

Like Peter I have reservations about "SLEW", I think AUTO_Y_RATE would be an improvement but I am not going to delay anything over it.

I am happy to approve.

[IamPete1]

Looks good!

[rmackay9]

I've tested this in SITL and while I found an issue with the yaw slew, the issue also exists in master and Leonard has a PR to fix it here: #32359