From bb4d2717999d3826edfcdbecb6dd43c98bb4b989 Mon Sep 17 00:00:00 2001
From: m_thread <fredrik@arvidssons.org>
Date: Fri, 10 Oct 2014 12:26:22 +0200
Subject: [PATCH] OP-1525 Made the Expo magic number a constant and changed it
 to 1.00695f. Changed n the firmware code to match the GCS side.

---
 flight/modules/ManualControl/stabilizedhandler.c              | 4 ++--
 .../src/plugins/config/configstabilizationwidget.cpp          | 2 +-
 .../src/plugins/config/configstabilizationwidget.h            | 1 +
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/flight/modules/ManualControl/stabilizedhandler.c b/flight/modules/ManualControl/stabilizedhandler.c
index 06a598f3f..c6b1c58ce 100644
--- a/flight/modules/ManualControl/stabilizedhandler.c
+++ b/flight/modules/ManualControl/stabilizedhandler.c
@@ -46,14 +46,14 @@ static float applyExpo(float value, float expo);
 static float applyExpo(float value, float expo)
 {
     // note: fastPow makes a small error, therefore result needs to be bound
-    float exp = boundf(fastPow(1.023293f, expo), 0.1f, 10.0f);
+    float exp = boundf(fastPow(1.00695f, expo), 0.1f, 10.0f);
 
     // magic number scales expo
     // so that
     // expo=100 yields value**10
     // expo=0 yields value**1
     // expo=-100 yields value**(1/10)
-    // (pow(10,1/100)~=1.023293)
+    // (pow(10,1/100)~=1.00695)
     if (value > 0.0f) {
         return boundf(fastPow(value, exp), 0.0f, 1.0f);
     } else if (value < -0.0f) {
diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
index bcb6f7e76..7c9fb0eae 100644
--- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
@@ -315,7 +315,7 @@ void ConfigStabilizationWidget::replotExpo(int value, QwtPlotCurve &curve)
 {
     double x[EXPO_CURVE_POINTS_COUNT] = { 0 };
     double y[EXPO_CURVE_POINTS_COUNT] = { 0 };
-    double factor = pow(1.03293, value);
+    double factor = pow(EXPO_CURVE_CONSTANT, value);
     double step   = 1.0 / (EXPO_CURVE_POINTS_COUNT - 1);
 
     for (int i = 0; i < EXPO_CURVE_POINTS_COUNT; i++) {
diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h
index 980a2fca5..180700112 100644
--- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h
@@ -56,6 +56,7 @@ private:
     static const int AUTOMATIC_UPDATE_RATE   = 500;
 
     static const int EXPO_CURVE_POINTS_COUNT = 100;
+    static const double EXPO_CURVE_CONSTANT = 1.00695;
 
     int boardModel;
     int m_pidBankCount;