diff --git a/flight/modules/ManualControl/manualcontrol.c b/flight/modules/ManualControl/manualcontrol.c index 495f1d4a1..17109f170 100644 --- a/flight/modules/ManualControl/manualcontrol.c +++ b/flight/modules/ManualControl/manualcontrol.c @@ -863,10 +863,10 @@ static void altitudeHoldDesired(ManualControlCommandData *cmd, bool changed) zeroed = false; } else if (cmd->Throttle > DEADBAND_HIGH && zeroed) { // being the two band symmetrical I can divide by DEADBAND_LOW to scale it to a value betweeon 0 and 1 - // then apply an "exp" f(x,k) = (k*x*x*x + x*(256−k)) / 256 - altitudeHoldDesiredData.Altitude += (throttleExp * powf((cmd->Throttle - DEADBAND_HIGH) / (DEADBAND_LOW), 3) + (256 - throttleExp)) / 256 * throttleRate * dT; + // then apply an "exp" f(x,k) = (k*x*x*x + (255-k)*x) / 255 + altitudeHoldDesiredData.Altitude += (throttleExp * powf((cmd->Throttle - DEADBAND_HIGH) / (DEADBAND_LOW), 3) + (255 - throttleExp) * (cmd->Throttle - DEADBAND_HIGH) / DEADBAND_LOW) / 255 * throttleRate * dT; } else if (cmd->Throttle < DEADBAND_LOW && zeroed) { - altitudeHoldDesiredData.Altitude -= (throttleExp * powf((DEADBAND_LOW - (cmd->Throttle < 0 ? 0 : cmd->Throttle)) / DEADBAND_LOW, 3) + (256 - throttleExp)) / 256 * throttleRate * dT; + altitudeHoldDesiredData.Altitude -= (throttleExp * powf((DEADBAND_LOW - (cmd->Throttle < 0 ? 0 : cmd->Throttle)) / DEADBAND_LOW, 3) + (255 - throttleExp) * (DEADBAND_LOW - cmd->Throttle) / DEADBAND_LOW) / 255 * throttleRate * dT; } else if (cmd->Throttle >= DEADBAND_LOW && cmd->Throttle <= DEADBAND_HIGH && (throttleRate != 0)) { // Require the stick to enter the dead band before they can move height // Vario is not "engaged" when throttleRate == 0