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Thrust linear code optimisations (#12720)

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remove conditions on thrust linear calculation
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ctzsnooze 2023-05-25 05:36:00 +10:00 • committed by GitHub
parent f4e8b421c2
commit 23a416b431
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1 changed files with 1 additions and 6 deletions
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7
src/main/flight/pid.c
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@ -324,12 +324,7 @@ float pidCompensateThrustLinearization(float throttle)
float pidApplyThrustLinearization(float motorOutput) float pidApplyThrustLinearization(float motorOutput)
{ {
if (pidRuntime.thrustLinearization != 0.0f) { motorOutput *= 1.0f + pidRuntime.thrustLinearization * sq(1.0f - motorOutput);
if (motorOutput > 0.0f) {
const float motorOutputReversed = (1.0f - motorOutput);
motorOutput *= 1.0f + sq(motorOutputReversed) * pidRuntime.thrustLinearization;
}
}
return motorOutput; return motorOutput;
} }
#endif #endif