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Change gov precomp exponent to 1.0 from 1.5 #181

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Change gov precomp exponent to 1.0 from 1.5 #181

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6a94805
Remove exponent from governor precomps
pmattila Oct 1, 2024
b2c7bca
Merge branch 'master' into gov_exponent
rotorflight Oct 8, 2024
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7 changes: 1 addition & 6 deletions src/main/flight/governor.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down Expand Up @@ -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);
Expand Down