From 9dbee3e78bb65db95d69527ddbe113c0a348b2c6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Luk=C3=A1=C5=A1=20Hr=C3=A1zk=C3=BD?= <lukkash@email.cz>
Date: Wed, 25 Dec 2024 20:04:36 +0100
Subject: [PATCH] Negative Variable Tiltback configured by negative rate

Fix: Configure negative Variable Tiltback via negative rate, not maximum
 >
 This will cause negative Variable Tiltback configured through the
 maximum to disappear. In such case users need to configure it again.
---
 src/conf/settings.xml |  4 ++--
 src/main.c            | 25 +++++++------------------
 2 files changed, 9 insertions(+), 20 deletions(-)

diff --git a/src/conf/settings.xml b/src/conf/settings.xml
index dabeff7..330dd13 100644
--- a/src/conf/settings.xml
+++ b/src/conf/settings.xml
@@ -809,7 +809,7 @@ p, li { white-space: pre-wrap; }
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
             <maxDouble>5</maxDouble>
-            <minDouble>0</minDouble>
+            <minDouble>-5</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>0.05</stepDouble>
             <valDouble>0.1</valDouble>
@@ -831,7 +831,7 @@ p, li { white-space: pre-wrap; }
             <editorScale>1</editorScale>
             <editAsPercentage>0</editAsPercentage>
             <maxDouble>20</maxDouble>
-            <minDouble>-20</minDouble>
+            <minDouble>0</minDouble>
             <showDisplay>0</showDisplay>
             <stepDouble>0.5</stepDouble>
             <valDouble>0</valDouble>
diff --git a/src/main.c b/src/main.c
index 11c0c26..a24c996 100644
--- a/src/main.c
+++ b/src/main.c
@@ -265,14 +265,9 @@ static void reconfigure(data *d) {
     d->startup_step_size = d->float_conf.startup_speed / d->float_conf.hertz;
     d->noseangling_step_size = d->float_conf.noseangling_speed / d->float_conf.hertz;
     d->startup_pitch_trickmargin = d->float_conf.startup_dirtylandings_enabled ? 10 : 0;
-
     d->tiltback_variable = d->float_conf.tiltback_variable / 1000;
-    if (d->tiltback_variable > 0) {
-        d->tiltback_variable_max_erpm =
-            fabsf(d->float_conf.tiltback_variable_max / d->tiltback_variable);
-    } else {
-        d->tiltback_variable_max_erpm = 100000;
-    }
+    d->tiltback_variable_max_erpm =
+        fabsf(d->float_conf.tiltback_variable_max / d->tiltback_variable);
 
     motor_data_configure(&d->motor, d->float_conf.atr_filter / d->float_conf.hertz);
     balance_filter_configure(&d->balance_filter, &d->float_conf);
@@ -853,17 +848,11 @@ static void calculate_setpoint_target(data *d) {
 }
 
 static void apply_noseangling(data *d) {
-    // Nose angle adjustment, add variable then constant tiltback
-    float noseangling_target = 0;
-
-    // Variable Tiltback looks at ERPM from the reference point of the set minimum ERPM
-    float variable_erpm = fmaxf(0, d->motor.abs_erpm - d->float_conf.tiltback_variable_erpm);
-    if (variable_erpm > d->tiltback_variable_max_erpm) {
-        noseangling_target = d->float_conf.tiltback_variable_max * d->motor.erpm_sign;
-    } else {
-        noseangling_target = d->tiltback_variable * variable_erpm * d->motor.erpm_sign *
-            sign(d->float_conf.tiltback_variable_max);
-    }
+    // Variable Tiltback: looks at ERPM from the reference point of the set minimum ERPM
+    float variable_erpm = clampf(
+        d->motor.abs_erpm - d->float_conf.tiltback_variable_erpm, 0, d->tiltback_variable_max_erpm
+    );
+    float noseangling_target = d->tiltback_variable * variable_erpm * d->motor.erpm_sign;
 
     if (d->motor.abs_erpm > d->float_conf.tiltback_constant_erpm) {
         noseangling_target += d->float_conf.tiltback_constant * d->motor.erpm_sign;