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updated dynThrottle curve

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This commit is contained in:
Nicola De Pasquale 2020-08-07 15:28:36 +02:00
parent b1af9befe5
commit 988024ee4e
1 changed files with 1 additions and 1 deletions
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2
src/main/sensors/gyro.c
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@ -625,7 +625,7 @@ float dynThrottle(float throttle) {
void dynLpfGyroUpdate(float throttle) void dynLpfGyroUpdate(float throttle)
{ {
if (gyro.dynLpfFilter != DYN_LPF_NONE) { if (gyro.dynLpfFilter != DYN_LPF_NONE) {
const unsigned int cutoffFreq = fmax(dynThrottle(throttle) * gyro.dynLpfMax, gyro.dynLpfMin); const unsigned int cutoffFreq = (gyro.dynLpfMax - gyro.dynLpfMin) * dynThrottle(throttle) + gyro.dynLpfMin;
if (gyro.dynLpfFilter == DYN_LPF_PT1) { if (gyro.dynLpfFilter == DYN_LPF_PT1) {
DEBUG_SET(DEBUG_DYN_LPF, 2, cutoffFreq); DEBUG_SET(DEBUG_DYN_LPF, 2, cutoffFreq);