Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-14 20:10:18 +03:00
Code Issues Wiki Activity

refactor Thrust Linear to initialise throttleCompensateAmount in pid_init.c

Browse source 
Maybe this could avoid recaculating throttleCompensateAmount every PID loop?
This commit is contained in:
ctzsnooze 2020-07-07 15:11:17 +10:00
parent 41fa8754bc
commit 9a65b766a2
3 changed files with 3 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

3
src/main/flight/pid.c
View file

@ -294,9 +294,8 @@ 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) * pidRuntime.thrustLinearization;
}
return throttle;
}