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Code Issues Wiki Activity

Insane Acro Sensitivity Fix

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This commit is contained in:
borisbstyle 2016-01-13 02:01:27 +01:00
parent 29a936e773
commit fcc14135f5
2 changed files with 7 additions and 8 deletions
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13
src/main/flight/pid.c
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@ -94,11 +94,6 @@ void airModePlus(airModePlus_t *axisState, int axis, pidProfile_t *pidProfile) {
//Ki scaler
axisState->iTermScaler = constrainf(1.0f - (1.5f * rcCommandReflection), 0.0f, minItermScaler);
if (minItermScaler > axisState->iTermScaler) minItermScaler = axisState->iTermScaler;
if (axis != YAW && pidProfile->airModeInsaneAcrobilityFactor) {
axisState->wowFactor = 1.0f - (rcCommandReflection * ((float)pidProfile->airModeInsaneAcrobilityFactor / 100.0f)); //0-1f
axisState->factor = (axisState->wowFactor * rcCommandReflection) * 1000;
}
} else {
// Prevent rapid windup
if (minItermScaler < 1) {
@ -107,13 +102,17 @@ void airModePlus(airModePlus_t *axisState, int axis, pidProfile_t *pidProfile) {
minItermScaler = 1;
}
}
if (axis != YAW && pidProfile->airModeInsaneAcrobilityFactor) {
axisState->wowFactor = rcCommandReflection * ((float)pidProfile->airModeInsaneAcrobilityFactor / 100.0f); //0-1f
axisState->factor = axisState->wowFactor * rcCommandReflection * 1000;
axisState->wowFactor = 1.0f - axisState->wowFactor;
}
}
const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
static airModePlus_t airModePlusAxisState[3];
//static int8_t * deltaFIRTable = 0L;
//static int16_t deltaFIRState[3][FILTER_TAPS];
static bool deltaStateIsSet = false;
static biquad_t deltaBiQuadState[3];