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Fixed throttle calculation.
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7cd83464d6
commit
fb605aed01
1 changed files with 3 additions and 3 deletions
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@ -291,9 +291,9 @@ float pidCompensateThrustLinearization(float throttle)
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{
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if (pidRuntime.thrustLinearization != 0.0f) {
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// for whoops where a lot of TL is needed, allow more throttle boost
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const float throttleCompensateAmount = (1.0f - 0.5f * thrustLinearization);
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const float throttleCompensateAmount = (1.0f - 0.5f * pidRuntime.thrustLinearization);
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const float throttleReversed = (1.0f - throttle);
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throttle /= 1.0f + throttleCompensateAmount * throttleReversed * throttleReversed * thrustLinearization;
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throttle /= 1.0f + throttleCompensateAmount * powerf(throttleReversed, 2) * pidRuntime.thrustLinearization;
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}
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return throttle;
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}
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@ -303,7 +303,7 @@ float pidApplyThrustLinearization(float motorOutput)
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if (pidRuntime.thrustLinearization != 0.0f) {
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if (motorOutput > 0.0f) {
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const float motorOutputReversed = (1.0f - motorOutput);
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motorOutput *= 1.0f + motorOutputReversed * motorOutputReversed * thrustLinearization;
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motorOutput *= 1.0f + powerf(motorOutputReversed, 2) * pidRuntime.thrustLinearization;
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}
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}
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return motorOutput;
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