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Merge pull request #5036 from fujin/bf-rates-rf-rate-incremental 

BetaFlight rates: re-add RF_RATE_INCREMENTAL multiplier
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Michael Keller 2018-01-26 18:42:16 +13:00 committed by GitHub
parent eeb3280c0e 025ed36cc3
commit ff3612c3b7
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1 changed files with 4 additions and 1 deletions
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5
src/main/fc/fc_rc.c
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@ -93,7 +93,10 @@ float applyBetaflightRates(const int axis, float rcCommandf, const float rcComma
rcCommandf = rcCommandf * power3(rcCommandfAbs) * expof + rcCommandf * (1 - expof);
}
const float rcRate = currentControlRateProfile->rcRates[axis] / 100.0f;
float rcRate = currentControlRateProfile->rcRates[axis] / 100.0f;
if (rcRate > 2.0f) {
rcRate += RC_RATE_INCREMENTAL * (rcRate - 2.0f);
}
float angleRate = 200.0f * rcRate * rcCommandf;
if (currentControlRateProfile->rates[axis]) {
const float rcSuperfactor = 1.0f / (constrainf(1.0f - (rcCommandfAbs * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));