Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-20 14:55:18 +03:00
Code Issues Wiki Activity

Fix for control smoothness bug introduced in PR #6104

Browse source
This commit is contained in:
Airwide 2020-11-15 17:51:25 +01:00
parent ab60dfb0e2
commit a3ada125d6
1 changed files with 3 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

6
src/main/navigation/navigation_fixedwing.c
View file

@ -76,16 +76,16 @@ static int8_t loiterDirYaw = 1;
static float getSmoothnessCutoffFreq(float baseFreq) static float getSmoothnessCutoffFreq(float baseFreq)
{ {
uint16_t smoothness = 10 - navConfig()->fw.control_smoothness; 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 // Calculates the cutoff frequency for smoothing out pitchToThrottleCorrection
// pitch_to_throttle_smooth valid range from 0 to 9 // 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) static float getPitchToThrottleSmoothnessCutoffFreq(float baseFreq)
{ {
uint16_t smoothness = 10 - navConfig()->fw.pitch_to_throttle_smooth; 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;
} }
/*----------------------------------------------------------- /*-----------------------------------------------------------