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Merge pull request #9990 from ctzsnooze/refactor-Thrust-Linear-update

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Michael Keller 2020-07-09 15:34:36 +12:00 • committed by GitHub
commit 7bb2c26c43
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3 changed files with 3 additions and 2 deletions
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src/main/flight/pid.c
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@ -293,9 +293,8 @@ float pidCompensateThrustLinearization(float throttle)
{
if (pidRuntime.thrustLinearization != 0.0f) {
// for whoops where a lot of TL is needed, allow more throttle boost
const float throttleCompensateAmount = (1.0f - 0.5f * pidRuntime.thrustLinearization);
const float throttleReversed = (1.0f - throttle);
throttle /= 1.0f + throttleCompensateAmount * powerf(throttleReversed, 2) * pidRuntime.thrustLinearization;
throttle /= 1.0f + pidRuntime.throttleCompensateAmount * powerf(throttleReversed, 2);
}
return throttle;
}