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AC_InputManager: Change from division to multiplication

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This commit is contained in:
murata 2022-03-12 02:30:57 +09:00 committed by Andrew Tridgell
parent 08a1ad3c39
commit 12957c835a
1 changed files with 10 additions and 10 deletions
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20
libraries/AC_InputManager/AC_InputManager_Heli.cpp
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@ -67,20 +67,20 @@ float AC_InputManager_Heli::get_pilot_desired_collective(int16_t control_in)
// calculate stabilize collective value which scales pilot input to reduced collective range
// code implements a 3-segment curve with knee points at 40% and 60% throttle input
if (control_in < 400){ // control_in ranges from 0 to 1000
slope_low = _heli_stab_col_min / 100.0f;
slope_high = _heli_stab_col_low / 100.0f;
slope_low = _heli_stab_col_min * 0.01f;
slope_high = _heli_stab_col_low * 0.01f;
slope_range = 0.4f;
slope_run = control_in / 1000.0f;
slope_run = control_in * 0.001f;
} else if(control_in <600){ // control_in ranges from 0 to 1000
slope_low = _heli_stab_col_low / 100.0f;
slope_high = _heli_stab_col_high / 100.0f;
slope_low = _heli_stab_col_low * 0.01f;
slope_high = _heli_stab_col_high * 0.01f;
slope_range = 0.2f;
slope_run = (control_in - 400) / 1000.0f; // control_in ranges from 0 to 1000
slope_run = (control_in - 400) * 0.001f; // control_in ranges from 0 to 1000
} else {
slope_low = _heli_stab_col_high / 100.0f;
slope_high = _heli_stab_col_max / 100.0f;
slope_low = _heli_stab_col_high * 0.01f;
slope_high = _heli_stab_col_max * 0.01f;
slope_range = 0.4f;
slope_run = (control_in - 600) / 1000.0f; // control_in ranges from 0 to 1000
slope_run = (control_in - 600) * 0.001f; // control_in ranges from 0 to 1000
}
scalar = (slope_high - slope_low)/slope_range;
@ -95,7 +95,7 @@ float AC_InputManager_Heli::get_pilot_desired_collective(int16_t control_in)
}
if (_acro_col_expo <= 0.0f) {
acro_col_out = control_in / 1000.0f; // control_in ranges from 0 to 1000
acro_col_out = control_in * 0.001f; // control_in ranges from 0 to 1000
} else {
// expo variables
float col_in, col_in3, col_out;