parent
9a65b766a2
commit
1fbf0ba816
|
@ -295,7 +295,7 @@ float pidCompensateThrustLinearization(float throttle)
|
|||
if (pidRuntime.thrustLinearization != 0.0f) {
|
||||
// for whoops where a lot of TL is needed, allow more throttle boost
|
||||
const float throttleReversed = (1.0f - throttle);
|
||||
throttle /= 1.0f + pidRuntime.throttleCompensateAmount * powerf(throttleReversed, 2) * pidRuntime.thrustLinearization;
|
||||
throttle /= 1.0f + pidRuntime.throttleCompensateAmount * powerf(throttleReversed, 2);
|
||||
}
|
||||
return throttle;
|
||||
}
|
||||
|
|
|
@ -375,7 +375,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
|
|||
|
||||
#ifdef USE_THRUST_LINEARIZATION
|
||||
pidRuntime.thrustLinearization = pidProfile->thrustLinearization / 100.0f;
|
||||
pidRuntime.throttleCompensateAmount = (1.0f - 0.5f * pidRuntime.thrustLinearization);
|
||||
pidRuntime.throttleCompensateAmount = pidRuntime.thrustLinearization - 0.5f * powerf(pidRuntime.thrustLinearization, 2);
|
||||
#endif
|
||||
#if defined(USE_D_MIN)
|
||||
for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) {
|
||||
|
|
Loading…
Reference in New Issue