From 2e9516bb636d5c722f2210c29b6c49a3de914c83 Mon Sep 17 00:00:00 2001
From: Nicola De Pasquale <ndp7c7c0@gmail.com>
Date: Sat, 15 Feb 2020 13:49:58 +0100
Subject: [PATCH] updated dlpf curve math, now it goes from straight to
 positive

---
 src/main/flight/pid.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 0579cad919..18f9a917a8 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -1632,7 +1632,7 @@ void dynLpfDTermUpdate(float throttle)
 float dynDtermLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo) {
     const float expof = expo / 10.0f;
     static float curve;
-    curve = 2 * throttle * (1 - throttle) * expof + powerf(throttle, 2);
+    curve = throttle * (1 - throttle) * expof + throttle;
     return (dynLpfMax - dynLpfMin) * curve + dynLpfMin;
 }