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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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4
src/main/flight/pid_init.c
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@ -375,10 +375,6 @@ void pidInitConfig(const pidProfile_t *pidProfile)
#ifdef USE_THRUST_LINEARIZATION
pidRuntime.thrustLinearization = pidProfile->thrustLinearization / 100.0f;
if (pidRuntime.thrustLinearization != 0.0f) {
pidRuntime.thrustLinearizationReciprocal = 1.0f / pidRuntime.thrustLinearization;
pidRuntime.thrustLinearizationB = (1.0f - pidRuntime.thrustLinearization) / (2.0f * pidRuntime.thrustLinearization);
}
#endif
#if defined(USE_D_MIN)
for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) {