Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-15 04:15:44 +03:00
Code Issues Wiki Activity

Further refactoring

Browse source 
Thanks, Mike!
This commit is contained in:
ctzsnooze 2020-07-07 22:59:58 +10:00
parent 9a65b766a2
commit 1fbf0ba816
2 changed files with 2 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/flight/pid.c
View file

@ -295,7 +295,7 @@ float pidCompensateThrustLinearization(float throttle)
if (pidRuntime.thrustLinearization != 0.0f) { if (pidRuntime.thrustLinearization != 0.0f) {
// for whoops where a lot of TL is needed, allow more throttle boost // for whoops where a lot of TL is needed, allow more throttle boost
const float throttleReversed = (1.0f - throttle); const float throttleReversed = (1.0f - throttle);
throttle /= 1.0f + pidRuntime.throttleCompensateAmount * powerf(throttleReversed, 2) * pidRuntime.thrustLinearization; throttle /= 1.0f + pidRuntime.throttleCompensateAmount * powerf(throttleReversed, 2);
} }
return throttle; return throttle;
} }

2
src/main/flight/pid_init.c
View file

@ -375,7 +375,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
#ifdef USE_THRUST_LINEARIZATION #ifdef USE_THRUST_LINEARIZATION
pidRuntime.thrustLinearization = pidProfile->thrustLinearization / 100.0f; pidRuntime.thrustLinearization = pidProfile->thrustLinearization / 100.0f;
pidRuntime.throttleCompensateAmount = (1.0f - 0.5f * pidRuntime.thrustLinearization); pidRuntime.throttleCompensateAmount = pidRuntime.thrustLinearization - 0.5f * powerf(pidRuntime.thrustLinearization, 2);
#endif #endif
#if defined(USE_D_MIN) #if defined(USE_D_MIN)
for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) { for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) {