From 025ed36cc3f00418d7f9ef26efa6371a20c52a39 Mon Sep 17 00:00:00 2001
From: AJ Christensen <aj@junglistheavy.industries>
Date: Fri, 26 Jan 2018 17:05:59 +1300
Subject: [PATCH] BetaFlight rates: re-add RF_RATE_INCREMENTAL multiplier

* By my understanding, when rcRate ended up being larger than 2.0, it was
  affected by this additional multiplier in calculateSetpointRate, line 101 of
  the previous implementation
---
 src/main/fc/fc_rc.c | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/main/fc/fc_rc.c b/src/main/fc/fc_rc.c
index df91a84bc..dfe4df3fb 100644
--- a/src/main/fc/fc_rc.c
+++ b/src/main/fc/fc_rc.c
@@ -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));