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Power 2 thrust compensation with 50% throttle compensation
^2 gain curve after discussions with Markus Variable throttle compensation, more with higher TL for whoops Calculator https://www.desmos.com/calculator/1rhq0pqoug
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4 changed files with 7 additions and 10 deletions
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@ -375,10 +375,6 @@ void pidInitConfig(const pidProfile_t *pidProfile)
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#ifdef USE_THRUST_LINEARIZATION
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pidRuntime.thrustLinearization = pidProfile->thrustLinearization / 100.0f;
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if (pidRuntime.thrustLinearization != 0.0f) {
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pidRuntime.thrustLinearizationReciprocal = 1.0f / pidRuntime.thrustLinearization;
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pidRuntime.thrustLinearizationB = (1.0f - pidRuntime.thrustLinearization) / (2.0f * pidRuntime.thrustLinearization);
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}
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#endif
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#if defined(USE_D_MIN)
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for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) {
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