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Fix for control smoothness bug introduced in PR #6104

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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
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6
src/main/navigation/navigation_fixedwing.c
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@ -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;
}
/*-----------------------------------------------------------