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Copter: Consolidate processing #28313

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Copter: Consolidate processing #28313

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6 changes: 1 addition & 5 deletions ArduCopter/mode_poshold.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -535,11 +535,7 @@ void ModePosHold::update_brake_angle_from_velocity(float &brake_angle, float vel
}

// calculate velocity-only based lean angle
if (velocity >= 0) {
lean_angle = -brake.gain * velocity * (1.0f + 500.0f / (velocity + 60.0f));
} else {
lean_angle = -brake.gain * velocity * (1.0f + 500.0f / (-velocity + 60.0f));
}
lean_angle = -brake.gain * velocity * (1.0f + 500.0f / (fabsf(velocity) + 60.0f));

// do not let lean_angle be too far from brake_angle
brake_angle = constrain_float(lean_angle, brake_angle - brake_rate, brake_angle + brake_rate);
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