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Code Issues Wiki Activity

Cleaned up the RX handler some.

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This commit is contained in:
mikeller 2020-03-08 17:19:09 +13:00
parent 6a6fd23742
commit d13e83b91b
10 changed files with 50 additions and 35 deletions
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2
src/main/flight/interpolated_setpoint.c
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@ -65,7 +65,7 @@ FAST_CODE_NOINLINE float interpolatedSpApply(int axis, bool newRcFrame, ffInterp
if (newRcFrame) {
float rawSetpoint = getRawSetpoint(axis);
const float rxInterval = currentRxRefreshRate * 1e-6f;
const float rxInterval = getCurrentRxRefreshRate() * 1e-6f;
const float rxRate = 1.0f / rxInterval;
float setpointSpeed = (rawSetpoint - prevRawSetpoint[axis]) * rxRate;
float setpointAcceleration = setpointSpeed - prevSetpointSpeed[axis];