From 23a416b43192ff4a562c78d5e12b11578c13dcba Mon Sep 17 00:00:00 2001
From: ctzsnooze <chris.thompson@sydney.edu.au>
Date: Thu, 25 May 2023 05:36:00 +1000
Subject: [PATCH] Thrust linear code optimisations (#12720)

remove conditions on thrust linear calculation
---
 src/main/flight/pid.c | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 8189d019cf..270cdd9255 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -324,12 +324,7 @@ float pidCompensateThrustLinearization(float throttle)
 
 float pidApplyThrustLinearization(float motorOutput)
 {
-    if (pidRuntime.thrustLinearization != 0.0f) {
-        if (motorOutput > 0.0f) {
-            const float motorOutputReversed = (1.0f - motorOutput);
-            motorOutput *= 1.0f + sq(motorOutputReversed) * pidRuntime.thrustLinearization;
-        }
-    }
+    motorOutput *= 1.0f + pidRuntime.thrustLinearization * sq(1.0f - motorOutput);
     return motorOutput;
 }
 #endif