Update pid_tuning.js

betaflight · Apr 6, 2024 · 4ef5e9b · 4ef5e9b
1 parent 08bef5d
commit 4ef5e9b
Showing 1 changed file with 12 additions and 14 deletions.
diff --git a/src/js/tabs/pid_tuning.js b/src/js/tabs/pid_tuning.js
@@ -1722,10 +1722,10 @@ pid_tuning.initialize = function (callback) {
             // y = (1-t)^2 * p0 + 2 * (1-t)*t*p1 + t^2 * p2
             // y = (p2+p0-2p1)x^2 + 2(p1 - p0)x + p0
             // 0 = (p2+p0-2p1)x^2 + 2(p1 - p0)x + (p0 - y)
-            const a = startY+endY-2*cpY
-            const b = 2*(cpY - startY)
-            const c = startY - y
-            return a==0? -c/b : (-b + Math.sqrt(Math.pow(b, 2) - 4 * a * c)) / (2 * a)
+            const a = startY+endY-2*cpY;
+            const b = 2*(cpY - startY);
+            const c = startY - y;
+            return a==0? -c/b : (-b + Math.sqrt(Math.pow(b, 2) - 4 * a * c)) / (2 * a);
             }
 
             /* --- */
@@ -1781,25 +1781,23 @@ pid_tuning.initialize = function (callback) {
             context.beginPath();
             context.moveTo(0, canvasHeight);
             if (throttleLimitType === THROTTLE_LIMIT_TYPES.CLIP){
+
                 const clippos = throttleLimitPercent <= midy
                     ? getPosfromYBezier(throttleLimitPercent,canvasHeight,midyl, midy)
                     : getPosfromYBezier(throttleLimitPercent,midy, midyl, 0);
                 if (throttleLimitPercent <= midyl){
                     //first half
-                    lowerctrl = getQuadraticCurvePoint(0, canvasHeight, midxl, midyl, midx, midy, clippos/2);
-                    curveclip = getQuadraticCurvePoint(0, canvasHeight, midxl, midyl, midx, midy, clippos);
-                    context.quadraticCurveTo(lowerctrl.x, lowerctrl.y, curveclip.x, curveclip.y);
-                    context.moveTo(curveclip.x, curveclip.y);
-                    context.lineTo(canvasWidth, curveclip.y);
+                    let lowerctrl = getQuadraticCurvePoint(0, canvasHeight, midxl, midyl, midx, midy, clippos/2);
+                    let curveclip = getQuadraticCurvePoint(0, canvasHeight, midxl, midyl, midx, midy, clippos);
                 } else {
                     context.quadraticCurveTo(midxl, midyl, midx, midy);
                     context.moveTo(midx, midy);
-                    lowerctrl = getQuadraticCurvePoint(midx, midy, midxr, midyr, canvasWidth, 0, clippos/2);
-                    curveclip = getQuadraticCurvePoint(midx, midy, midxr, midyr, canvasWidth, 0, clippos);
-                    context.quadraticCurveTo(lowerctrl.x, lowerctrl.y, curveclip.x, curveclip.y);
-                    context.moveTo(curveclip.x, curveclip.y);
-                    context.lineTo(canvasWidth, curveclip.y);
+                    let lowerctrl = getQuadraticCurvePoint(midx, midy, midxr, midyr, canvasWidth, 0, clippos/2);
+                    let curveclip = getQuadraticCurvePoint(midx, midy, midxr, midyr, canvasWidth, 0, clippos);
                 }
+                context.quadraticCurveTo(lowerctrl.x, lowerctrl.y, curveclip.x, curveclip.y);
+                context.moveTo(curveclip.x, curveclip.y);
+                context.lineTo(canvasWidth, curveclip.y);
             }
             context.quadraticCurveTo(midxl, midyl, midx, midy);
             context.moveTo(midx, midy);