From a3ada125d62663767f5013694e6b18dd08d8dc9f Mon Sep 17 00:00:00 2001 From: Airwide Date: Sun, 15 Nov 2020 17:51:25 +0100 Subject: [PATCH] Fix for control smoothness bug introduced in PR #6104 --- src/main/navigation/navigation_fixedwing.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c index dffa74bc02..51c25d77cc 100755 --- a/src/main/navigation/navigation_fixedwing.c +++ b/src/main/navigation/navigation_fixedwing.c @@ -76,16 +76,16 @@ static int8_t loiterDirYaw = 1; static float getSmoothnessCutoffFreq(float baseFreq) { uint16_t smoothness = 10 - navConfig()->fw.control_smoothness; - return 0.001f * baseFreq * (float)(smoothness*smoothness*smoothness) + 0.01f; + return 0.001f * baseFreq * (float)(smoothness*smoothness*smoothness) + 0.1f; } // Calculates the cutoff frequency for smoothing out pitchToThrottleCorrection // pitch_to_throttle_smooth valid range from 0 to 9 -// resulting cutoff_freq ranging from baseFreq downwards to ~0.11Hz +// resulting cutoff_freq ranging from baseFreq downwards to ~0.01Hz static float getPitchToThrottleSmoothnessCutoffFreq(float baseFreq) { uint16_t smoothness = 10 - navConfig()->fw.pitch_to_throttle_smooth; - return 0.001f * baseFreq * (float)(smoothness*smoothness*smoothness) + 0.1f; + return 0.001f * baseFreq * (float)(smoothness*smoothness*smoothness) + 0.01f; } /*-----------------------------------------------------------