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Merge pull request #5055 from mikeller/fix_rf_rate_calculation

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Fixed RaceFlight rates calculation.
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Michael Keller 2018-01-30 00:58:45 +13:00 • committed by GitHub
commit e3cbff148e
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1 changed files with 1 additions and 3 deletions
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4
src/main/fc/fc_rc.c
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@ -108,13 +108,11 @@ float applyBetaflightRates(const int axis, float rcCommandf, const float rcComma
float applyRaceFlightRates(const int axis, float rcCommandf, const float rcCommandfAbs) float applyRaceFlightRates(const int axis, float rcCommandf, const float rcCommandfAbs)
{ {
UNUSED(rcCommandfAbs);
// -1.0 to 1.0 ranged and curved // -1.0 to 1.0 ranged and curved
rcCommandf = ((1.0f + 0.01f * currentControlRateProfile->rcExpo[axis] * (rcCommandf * rcCommandf - 1.0f)) * rcCommandf); rcCommandf = ((1.0f + 0.01f * currentControlRateProfile->rcExpo[axis] * (rcCommandf * rcCommandf - 1.0f)) * rcCommandf);
// convert to -2000 to 2000 range using acro+ modifier // convert to -2000 to 2000 range using acro+ modifier
float angleRate = 10.0f * currentControlRateProfile->rcRates[axis] * rcCommandf; float angleRate = 10.0f * currentControlRateProfile->rcRates[axis] * rcCommandf;
angleRate = angleRate * (1 + (float)currentControlRateProfile->rates[axis] * 0.01f); angleRate = angleRate * (1 + rcCommandfAbs * (float)currentControlRateProfile->rates[axis] * 0.01f);
return angleRate; return angleRate;
} }