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Merge pull request #9486 from IllusionFpv/updated-dlpf-curve

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Updated DLPF curve
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Michael Keller 2020-02-17 23:57:49 +13:00 • committed by GitHub
commit 17e620f997
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src/main/flight/pid.c
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@ -1636,7 +1636,7 @@ void dynLpfDTermUpdate(float throttle)
float dynDtermLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo) { float dynDtermLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo) {
const float expof = expo / 10.0f; const float expof = expo / 10.0f;
static float curve; static float curve;
curve = 2 * throttle * (1 - throttle) * expof + powerf(throttle, 2); curve = throttle * (1 - throttle) * expof + throttle;
return (dynLpfMax - dynLpfMin) * curve + dynLpfMin; return (dynLpfMax - dynLpfMin) * curve + dynLpfMin;
} }