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Merge pull request #1232 from klutvott123/patch-1

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Fix rate curve calculation
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Michael Keller 2018-11-23 00:27:08 +13:00 • committed by GitHub
commit 2f3a319f67
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1 changed files with 7 additions and 9 deletions
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16
src/js/RateCurve.js
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@ -87,11 +87,12 @@ RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcR
rcRate = rcRate + (rcRate - 2) * 14.54; rcRate = rcRate + (rcRate - 2) * 14.54;
} }
var inputValue = this.rcCommand(rcData, rcRate, deadband);
var maxRc = 500 * rcRate; var maxRc = 500 * rcRate;
var rcCommandf = this.rcCommand(rcData, rcRate, deadband) / maxRc;
var rcCommandfAbs = Math.abs(rcCommandf);
var expoPower; var expoPower;
var rcRateConstant; var rcRateConstant;
if (semver.gte(CONFIG.apiVersion, "1.20.0")) { if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
expoPower = 3; expoPower = 3;
rcRateConstant = 200; rcRateConstant = 200;
@ -101,18 +102,15 @@ RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcR
} }
if (rcExpo > 0) { if (rcExpo > 0) {
var absRc = Math.abs(inputValue) / maxRc; rcCommandf = rcCommandf * Math.pow(rcCommandfAbs, expoPower) * rcExpo + rcCommandf * (1-rcExpo);
inputValue = inputValue * Math.pow(absRc, expoPower) * rcExpo + inputValue * (1-rcExpo);
} }
var rcInput = inputValue / maxRc;
if (superExpoActive) { if (superExpoActive) {
var rcFactor = 1 / this.constrain(1 - Math.abs(rcInput) * rate, 0.01, 1); var rcFactor = 1 / this.constrain(1 - rcCommandfAbs * rate, 0.01, 1);
angleRate = rcRateConstant * rcRate * rcInput; // 200 should be variable checked on version (older versions it's 205,9) angleRate = rcRateConstant * rcRate * rcCommandf; // 200 should be variable checked on version (older versions it's 205,9)
angleRate = angleRate * rcFactor; angleRate = angleRate * rcFactor;
} else { } else {
angleRate = (((rate * 100) + 27) * inputValue / 16) / 4.1; // Only applies to old versions ? angleRate = (((rate * 100) + 27) * rcCommandf / 16) / 4.1; // Only applies to old versions ?
} }
angleRate = this.constrain(angleRate, -1998, 1998); // Rate limit protection angleRate = this.constrain(angleRate, -1998, 1998); // Rate limit protection