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Replaced use of power function

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This commit is contained in:
Martin Budden 2016-12-17 08:10:46 +00:00
parent 0b6ff0de10
commit 9e2fd0e51c
3 changed files with 4 additions and 4 deletions
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4
src/main/flight/pid.c
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@ -263,10 +263,10 @@ void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
dynC = c[axis];
if (setpointRate[axis] > 0) {
if ((setpointRate[axis] - previousSetpoint[axis]) < previousSetpoint[axis])
dynC = dynC * powerf(rcInput[axis], 2) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
dynC = dynC * sq(rcInput[axis]) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
} else if (setpointRate[axis] < 0) {
if ((setpointRate[axis] - previousSetpoint[axis]) > previousSetpoint[axis])
dynC = dynC * powerf(rcInput[axis], 2) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
dynC = dynC * sq(rcInput[axis]) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
}
}
const float rD = dynC * setpointRate[axis] - PVRate; // cr - y