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Code Issues Wiki Activity

Remove unneeded library function 'powerf()'.

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This commit is contained in:
mikeller 2021-04-26 16:41:04 +12:00
parent 76b6415d34
commit 6b87b3685c
7 changed files with 12 additions and 25 deletions
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5
src/main/flight/pid.c
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@ -30,7 +30,6 @@
#include "common/axis.h"
#include "common/filter.h"
#include "common/maths.h"
#include "config/config_reset.h"
#include "config/simplified_tuning.h"
@ -315,7 +314,7 @@ float pidCompensateThrustLinearization(float throttle)
if (pidRuntime.thrustLinearization != 0.0f) {
// for whoops where a lot of TL is needed, allow more throttle boost
const float throttleReversed = (1.0f - throttle);
throttle /= 1.0f + pidRuntime.throttleCompensateAmount * powerf(throttleReversed, 2);
throttle /= 1.0f + pidRuntime.throttleCompensateAmount * powf(throttleReversed, 2);
}
return throttle;
}
@ -325,7 +324,7 @@ float pidApplyThrustLinearization(float motorOutput)
if (pidRuntime.thrustLinearization != 0.0f) {
if (motorOutput > 0.0f) {
const float motorOutputReversed = (1.0f - motorOutput);
motorOutput *= 1.0f + powerf(motorOutputReversed, 2) * pidRuntime.thrustLinearization;
motorOutput *= 1.0f + powf(motorOutputReversed, 2) * pidRuntime.thrustLinearization;
}
}
return motorOutput;