From d980ad98bd7df5a05bc594f59292b3f628b4406b Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Tue, 5 Dec 2023 23:11:45 +0000
Subject: [PATCH] CR47

---
 src/main/fc/fc_msp.c                         |  2 --
 src/main/fc/settings.yaml                    |  4 ++--
 src/main/navigation/navigation.c             |  2 +-
 src/main/navigation/navigation_multicopter.c | 14 ++++++++------
 4 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 1d2702f66d0..2603185e518 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -3712,8 +3712,6 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
                                 randNumOld = randNum;
                             }
 
-                            DEBUG_SET(DEBUG_ALWAYS, 0, counter);
-                            DEBUG_SET(DEBUG_ALWAYS, 1, randNum);
                             DEBUG_SET(DEBUG_ALWAYS, 5, gpsSol.llh.alt);
                             gpsSol.llh.alt += (20 * signChanger * randNum * counter);       // in cm
                             DEBUG_SET(DEBUG_ALWAYS, 6, gpsSol.llh.alt);
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index c94f0798d4d..1907c8dd7a9 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -2060,13 +2060,13 @@ groups:
         # CR47
       - name: nav_mc_vel_xy_dterm_attenuation_start
         description: "Horizontal velocity where nav_mc_vel_xy_dterm_attenuation begins [m/s]"
-        default_value: 10
+        default_value: 5
         field: navVelXyDtermAttenuationStart
         min: 0
         max: 100
       - name: nav_mc_vel_xy_dterm_attenuation_end
         description: "Horizontal velocity where nav_mc_vel_xy_dterm_attenuation reaches maximum [m/s]"
-        default_value: 20
+        default_value: 10
         field: navVelXyDtermAttenuationEnd
         min: 0
         max: 100
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index d3dc6750fc8..5aa3395ac70 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -4407,7 +4407,7 @@ void navigationUsePIDs(void)
      * Set coefficients used in MC VEL_XY
      */
     // CR47
-    multicopterPosXyCoefficients.dTermAttenuation = pidProfile()->navVelXyDtermAttenuation * 100.0f;
+    multicopterPosXyCoefficients.dTermAttenuation = pidProfile()->navVelXyDtermAttenuation / 100.0f;
     multicopterPosXyCoefficients.dTermAttenuationStart = pidProfile()->navVelXyDtermAttenuationStart * 100.0f;
     multicopterPosXyCoefficients.dTermAttenuationEnd = pidProfile()->navVelXyDtermAttenuationEnd * 100.0f;
     // multicopterPosXyCoefficients.dTermAttenuation = pidProfile()->navVelXyDtermAttenuation / 100.0f;
diff --git a/src/main/navigation/navigation_multicopter.c b/src/main/navigation/navigation_multicopter.c
index a2a1c19c603..77f84182ad2 100644
--- a/src/main/navigation/navigation_multicopter.c
+++ b/src/main/navigation/navigation_multicopter.c
@@ -570,19 +570,21 @@ static float computeNormalizedVelocity(const float value, const float maxValue)
 }
 
 static float computeVelocityScale(
-    float value,        // CR47
-    // const float maxValue,   // CR47
+    // CR47
+    float value,
+    // const float maxValue,
     const float attenuationFactor,
-    const float attenuationStart,
-    const float attenuationEnd
+    const float attenuationStartVel,
+    const float attenuationEndVel
+    // CR47
 )
 {
     // CR47
-    value -= attenuationStart;
+    value -= attenuationStartVel;
     if (value <= 0.0f) {
         return 0.0f;
     }
-    const float normalized = computeNormalizedVelocity(value, attenuationEnd);
+    const float normalized = computeNormalizedVelocity(value, attenuationEndVel);
     float scale = scaleRangef(normalized, 0.0f, 1.0f, 0.0f, attenuationFactor);
     return constrainf(scale, 0.0f, attenuationFactor);