Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 04:45:24 +03:00
Code Issues Wiki Activity

Revert to single blip up and down

Browse source
This commit is contained in:
ctzsnooze 2020-01-21 06:43:12 +11:00
parent f93cda06e8
commit 2f1afdfbd5
1 changed files with 3 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

6
src/main/flight/interpolated_setpoint.c
View file

@ -90,7 +90,8 @@ FAST_CODE_NOINLINE float interpolatedSpApply(int axis, bool newRcFrame, ffInterp
holdCount[axis] = 1;
} else {
// type 2 = small change, no interpolation needed
setpointSpeedModified = prevSetpointSpeed[axis];
setpointSpeedModified = 0.0f;
setpointSpeed = setpointSpeed / 2.0f;
holdCount[axis] = 2;
}
} else {
@ -106,12 +107,11 @@ FAST_CODE_NOINLINE float interpolatedSpApply(int axis, bool newRcFrame, ffInterp
// interpolation was applied
// raw setpoint speed of next 'good' packet is twice what it should be
setpointSpeedModified = setpointSpeed / 2.0f;
setpointSpeed = setpointSpeedModified;
// empirically this works best
setpointAccelerationModified = (prevAcceleration[axis] + setpointAcceleration) / 2.0f;
} else if (holdCount[axis] == 2) {
// interpolation was not applied
setpointSpeedModified = setpointSpeed / 2.0f;
setpointAccelerationModified = prevAcceleration[axis] / 2.0f;
} else if (holdCount[axis] == 3) {
// after persistent flat period or recent big step up, no boost
// reduces jitter from boost when flying smoothly