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Code Issues Wiki Activity

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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1
src/main/common/maths.h
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@ -20,6 +20,7 @@
#ifndef sq #ifndef sq
#define sq(x) ((x)*(x)) #define sq(x) ((x)*(x))
#endif #endif
#define power3(x) ((x)*(x)*(x))
// Undefine this for use libc sinf/cosf. Keep this defined to use fast sin/cos approximations // Undefine this for use libc sinf/cosf. Keep this defined to use fast sin/cos approximations
#define FAST_MATH // order 9 approximation #define FAST_MATH // order 9 approximation

3
src/main/fc/mw.c
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@ -147,7 +147,6 @@ bool isCalibrating()
} }
#define RC_RATE_INCREMENTAL 14.54f #define RC_RATE_INCREMENTAL 14.54f
#define RC_EXPO_POWER 3
void calculateSetpointRate(int axis, int16_t rc) { void calculateSetpointRate(int axis, int16_t rc) {
float angleRate, rcRate, rcSuperfactor, rcCommandf; float angleRate, rcRate, rcSuperfactor, rcCommandf;
@ -167,7 +166,7 @@ void calculateSetpointRate(int axis, int16_t rc) {
if (rcExpo) { if (rcExpo) {
float expof = rcExpo / 100.0f; float expof = rcExpo / 100.0f;
rcCommandf = rcCommandf * powerf(rcInput[axis], RC_EXPO_POWER) * expof + rcCommandf * (1-expof); rcCommandf = rcCommandf * power3(rcInput[axis]) * expof + rcCommandf * (1-expof);
} }
angleRate = 200.0f * rcRate * rcCommandf; angleRate = 200.0f * rcRate * rcCommandf;

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]; dynC = c[axis];
if (setpointRate[axis] > 0) { if (setpointRate[axis] > 0) {
if ((setpointRate[axis] - previousSetpoint[axis]) < previousSetpoint[axis]) 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) { } else if (setpointRate[axis] < 0) {
if ((setpointRate[axis] - previousSetpoint[axis]) > previousSetpoint[axis]) 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 const float rD = dynC * setpointRate[axis] - PVRate; // cr - y