From 9f086cfe6f187f01dd244f5c43b8af2b1e57fb5b Mon Sep 17 00:00:00 2001 From: Davorin Mista Date: Wed, 30 Jun 2021 12:46:52 -0700 Subject: [PATCH] fixup! Balance App: introduce new speed based variable tiltback --- applications/app_balance.c | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) diff --git a/applications/app_balance.c b/applications/app_balance.c index 2c24b7c4..1fa0a8a0 100644 --- a/applications/app_balance.c +++ b/applications/app_balance.c @@ -198,14 +198,9 @@ void app_balance_configure(balance_config *conf, imu_config *conf2) { torquetilt_current_biquad.b2 = (1 - K / Q + K * K) * norm; } - // Variable nose angle adjustment / tiltback + // Variable nose angle adjustment / tiltback (setting is per 1000erpm, convert to per erpm) tiltback_variable = balance_conf.tiltback_variable / 1000; - // Signs of both settings must match, if not we disable this feature - if (SIGN(tiltback_variable) == SIGN(balance_conf.tiltback_variable_max)) { - tiltback_variable_max_erpm = balance_conf.tiltback_variable_max / tiltback_variable; - } else { - tiltback_variable_max_erpm = 0; - } + tiltback_variable_max_erpm = fabsf(balance_conf.tiltback_variable_max / tiltback_variable); // Reset loop time variables last_time = 0;