add slow acceleration in slower modes
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@ -95,7 +95,7 @@ bool error_sdfile_unavailable=false;
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#define NORMAL_MAX_ACCELERATION_RATE 10000
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#define SLOW_MAX_ACCELERATION_RATE 500
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#define SLOW_MAX_ACCELERATION_RATE 250
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int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send increase per second
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@ -520,7 +520,7 @@ void calculateSetSpeed(unsigned long timediff){
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}
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//acceleration
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cmd_send += constrain(adjusted_throttle_pos-cmd_send,0,(int16_t)(max_acceleration_rate*(timediff/1000.0)) ); //if throttle higher than last applied value, apply throttle directly
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cmd_send += constrain(adjusted_throttle_pos-cmd_send,0,(int16_t)(max_acceleration_rate*(timediff/1000.0)) ); //if throttle higher than last applied value, apply throttle directly with rate limit
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cmd_send=constrain(cmd_send,0,throttle_max);
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@ -603,12 +603,15 @@ void readButtons() {
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if (control_buttonA) { //button A is held down during start button press
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throttle_max=1000;
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reverse_speed=0.25;
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max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
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}else if (control_buttonB) { //button B is held down during start button press
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throttle_max=750;
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reverse_speed=0.25;
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max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
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}else { //no control button pressed during start
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throttle_max=250;
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reverse_speed=0.15;
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max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
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}
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}else{
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