Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-18 05:45:31 +03:00
Code Issues Wiki Activity

Merge pull request #5055 from mikeller/fix_rf_rate_calculation

Browse source 
Fixed RaceFlight rates calculation.
This commit is contained in:
Michael Keller 2018-01-30 00:58:45 +13:00 • committed by GitHub
commit e3cbff148e
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 1 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/main/fc/fc_rc.c
View file

@ -108,13 +108,11 @@ float applyBetaflightRates(const int axis, float rcCommandf, const float rcComma
float applyRaceFlightRates(const int axis, float rcCommandf, const float rcCommandfAbs)
{
UNUSED(rcCommandfAbs);
// -1.0 to 1.0 ranged and curved
rcCommandf = ((1.0f + 0.01f * currentControlRateProfile->rcExpo[axis] * (rcCommandf * rcCommandf - 1.0f)) * rcCommandf);
// convert to -2000 to 2000 range using acro+ modifier
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;
}