diff --git a/src/main/flight/governor.c b/src/main/flight/governor.c index 7bd3c9bcb1..af846d2f12 100644 --- a/src/main/flight/governor.c +++ b/src/main/flight/governor.c @@ -334,11 +334,6 @@ static inline float idleMap(float throttle) return constrainf(throttle, 0, gov.maxIdleThrottle); } -static inline float angleDrag(float angle) -{ - return angle * sqrtf(angle); // angle ^ 1.5 -} - static inline void govChangeState(govState_e futureState) { gov.state = futureState; @@ -437,7 +432,7 @@ static void govUpdateData(void) float yawFF = gov.yawWeight * getYawDeflectionAbs(); // Angle-of-attack vs. FeedForward curve - float totalFF = angleDrag(collectiveFF + cyclicFF) + angleDrag(yawFF); + float totalFF = collectiveFF + cyclicFF + yawFF; // Filtered FeedForward totalFF = filterApply(&gov.FFFilter, totalFF);