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Add higher power function to Super Expo

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borisbstyle 2016-05-30 13:02:41 +02:00
parent fb7cfffdeb
commit 754982f480
2 changed files with 62 additions and 1 deletions
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4
src/main/flight/pid.c
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@ -81,8 +81,10 @@ float calculateExpoPlus(int axis, const rxConfig_t *rxConfig) {
if (axis == YAW && !rxConfig->superExpoYawMode) {
propFactor = 1.0f;
} else {
float rcFactor = (ABS(rcCommand[axis]) / 500.0f);
superExpoFactor = (axis == YAW) ? rxConfig->superExpoFactorYaw : rxConfig->superExpoFactor;
propFactor = constrainf(1.0f - ((superExpoFactor / 100.0f) * (ABS(rcCommand[axis]) / 500.0f)), 0.0f, 1.0f);
propFactor = constrainf(1.0f - ((superExpoFactor / 100.0f) * rcFactor * rcFactor * rcFactor), 0.0f, 1.0f);
}
return propFactor;