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maybe more efficient?

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This commit is contained in:
ctzsnooze 2020-09-13 12:11:09 +10:00
parent 73663f7fae
commit 0833aab886
1 changed files with 14 additions and 12 deletions
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26
src/main/flight/interpolated_setpoint.c
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@ -102,19 +102,21 @@ FAST_CODE_NOINLINE float interpolatedSpApply(int axis, bool newRcFrame, ffInterp
}
} else {
// we have movement; let's consider what happened on previous packets, using ffStatus
if (ffStatus[axis] == 1) {
// was interpolated forward after previous dropped packet after small step
// this step is likely twice as tall as it should be
setpointSpeed = setpointSpeed / 2.0f;
} else if (ffStatus[axis] == 2) {
// we are doing nothing for these to avoid exaggerating the FrSky early packet problem
} else if (ffStatus[axis] == 3) {
// movement after nothing on previous two packets
// reduce boost when higher averaging is used to improve slow stick smoothness
setpointAccelerationModifier /= (averagingCount + 1);
if (ffStatus[axis] != 0) {
if (ffStatus[axis] == 1) {
// was interpolated forward after previous dropped packet after small step
// this step is likely twice as tall as it should be
setpointSpeed = setpointSpeed / 2.0f;
} else if (ffStatus[axis] == 2) {
// we are doing nothing for these to avoid exaggerating the FrSky early packet problem
} else if (ffStatus[axis] == 3) {
// movement after nothing on previous two packets
// reduce boost when higher averaging is used to improve slow stick smoothness
setpointAccelerationModifier /= (averagingCount + 1);
}
ffStatus[axis] = 0;
// all is normal
}
ffStatus[axis] = 0;
// all is normal
}
float setpointAcceleration = setpointSpeed - prevSetpointSpeed[axis];