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Power 2 thrust compensation with 50% throttle compensation

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^2 gain curve after discussions with Markus
Variable throttle compensation, more with higher TL for whoops
Calculator https://www.desmos.com/calculator/1rhq0pqoug
This commit is contained in:
ctzsnooze 2020-04-25 23:40:00 +10:00 • committed by mikeller
parent 596c21686c
commit 7cd83464d6
4 changed files with 7 additions and 10 deletions
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9
src/main/flight/pid.c
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@ -290,7 +290,10 @@ void pidAcroTrainerInit(void)
float pidCompensateThrustLinearization(float throttle)
{
if (pidRuntime.thrustLinearization != 0.0f) {
throttle = throttle * (throttle * pidRuntime.thrustLinearization + 1.0f - pidRuntime.thrustLinearization);
// for whoops where a lot of TL is needed, allow more throttle boost
const float throttleCompensateAmount = (1.0f - 0.5f * thrustLinearization);
const float throttleReversed = (1.0f - throttle);
throttle /= 1.0f + throttleCompensateAmount * throttleReversed * throttleReversed * thrustLinearization;
}
return throttle;
}
@ -299,8 +302,8 @@ float pidApplyThrustLinearization(float motorOutput)
{
if (pidRuntime.thrustLinearization != 0.0f) {
if (motorOutput > 0.0f) {
motorOutput = sqrtf(motorOutput * pidRuntime.thrustLinearizationReciprocal +
pidRuntime.thrustLinearizationB * pidRuntime.thrustLinearizationB) - pidRuntime.thrustLinearizationB;
const float motorOutputReversed = (1.0f - motorOutput);
motorOutput *= 1.0f + motorOutputReversed * motorOutputReversed * thrustLinearization;
}
}
return motorOutput;