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Fix rate curve calculation

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Use absRc in rcFactor calculation instead of Math.abs(rcInput)
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Hans Christian Olaussen 2018-11-20 21:07:43 +01:00 • committed by GitHub
parent 27cf3a356b
commit 96af69ae45
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1 changed files with 2 additions and 3 deletions
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src/js/RateCurve.js
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@ -89,7 +89,7 @@ RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcR
var inputValue = this.rcCommand(rcData, rcRate, deadband); var inputValue = this.rcCommand(rcData, rcRate, deadband);
var maxRc = 500 * rcRate; var maxRc = 500 * rcRate;
var absRc = Math.abs(inputValue) / maxRc;
var expoPower; var expoPower;
var rcRateConstant; var rcRateConstant;
if (semver.gte(CONFIG.apiVersion, "1.20.0")) { if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
@ -101,14 +101,13 @@ RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcR
} }
if (rcExpo > 0) { if (rcExpo > 0) {
var absRc = Math.abs(inputValue) / maxRc;
inputValue = inputValue * Math.pow(absRc, expoPower) * rcExpo + inputValue * (1-rcExpo); inputValue = inputValue * Math.pow(absRc, expoPower) * rcExpo + inputValue * (1-rcExpo);
} }
var rcInput = inputValue / maxRc; 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 - absRc * rate, 0.01, 1);
angleRate = rcRateConstant * rcRate * rcInput; // 200 should be variable checked on version (older versions it's 205,9) angleRate = rcRateConstant * rcRate * rcInput; // 200 should be variable checked on version (older versions it's 205,9)
angleRate = angleRate * rcFactor; angleRate = angleRate * rcFactor;
} else { } else {