Function input_expo

libraries/AP_Math/control.cpp:520–527

input_expo calculates the expo function on the normalised input. The input must be in the range of -1 to 1. The expo should be less than 1.0 but limited to be less than 0.95.

// The input must be in the range of -1 to 1.
// The expo should be less than 1.0 but limited to be less than 0.95.
float input_expo(float input, float expo)
{
    input = constrain_float(input, -1.0, 1.0);
    if (expo < 0.95) {
        return (1 - expo) * input / (1 - expo * fabsf(input));
    }
    return input;
}

// angle_to_accel converts a maximum lean angle in degrees to an accel limit in m/s/s
float angle_to_accel(float angle_deg)