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Valid range of ACRO_Y_EXPO mismatch between source code and documentation

Hello all,

I found a mismatch related to the valid range of ACRO_Y_EXPO parameter.
ACRO_Y_EXPO’s valid range is from -0.5 to 1.0 based on documentation. However, ArduPilot source code forces the parameter to have a value from 0 to 1.

g2.acro_y_expo = constrain_float(g2.acro_y_expo, 0.0f, 1.0f);
in ArduCopter/mode.cpp 753 line

I think this issue is similar to #3541.

@Leonardthall any thoughts?

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I agree that we should probably change the range to 0 to 1.0 if only because the value to disable the expo is 0 (and the default is zero).

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The range is -0.5 to 1.0. When it is set to 0.0 it results in a perfectly straight line.

So this isn’t a setting to disable the expo, zero is where it is a straight line. Input is proportional to output, ie, no expo.

I have put in a pull request to fix this here:

Thanks @KimHyungSub

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Thanks @andyp1per @Leonardthall @rmackay9

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