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Fixed throttle calculation.

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This commit is contained in:
mikeller 2020-07-05 14:05:10 +12:00
parent 7cd83464d6
commit fb605aed01
1 changed files with 3 additions and 3 deletions
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6
src/main/flight/pid.c
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@ -291,9 +291,9 @@ float pidCompensateThrustLinearization(float throttle)
{ {
if (pidRuntime.thrustLinearization != 0.0f) { if (pidRuntime.thrustLinearization != 0.0f) {
// for whoops where a lot of TL is needed, allow more throttle boost // for whoops where a lot of TL is needed, allow more throttle boost
const float throttleCompensateAmount = (1.0f - 0.5f * thrustLinearization); const float throttleCompensateAmount = (1.0f - 0.5f * pidRuntime.thrustLinearization);
const float throttleReversed = (1.0f - throttle); const float throttleReversed = (1.0f - throttle);
throttle /= 1.0f + throttleCompensateAmount * throttleReversed * throttleReversed * thrustLinearization; throttle /= 1.0f + throttleCompensateAmount * powerf(throttleReversed, 2) * pidRuntime.thrustLinearization;
} }
return throttle; return throttle;
} }
@ -303,7 +303,7 @@ float pidApplyThrustLinearization(float motorOutput)
if (pidRuntime.thrustLinearization != 0.0f) { if (pidRuntime.thrustLinearization != 0.0f) {
if (motorOutput > 0.0f) { if (motorOutput > 0.0f) {
const float motorOutputReversed = (1.0f - motorOutput); const float motorOutputReversed = (1.0f - motorOutput);
motorOutput *= 1.0f + motorOutputReversed * motorOutputReversed * thrustLinearization; motorOutput *= 1.0f + powerf(motorOutputReversed, 2) * pidRuntime.thrustLinearization;
} }
} }
return motorOutput; return motorOutput;