From 234e4688b069c0d1b02fb775a15aa1e1d5d60720 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Thu, 4 Sep 2025 15:17:29 +0200
Subject: [PATCH] Sticks: calculate expo only upon getter call

---
 src/lib/sticks/Sticks.cpp |  8 --------
 src/lib/sticks/Sticks.hpp | 15 +++++----------
 2 files changed, 5 insertions(+), 18 deletions(-)

diff --git a/src/lib/sticks/Sticks.cpp b/src/lib/sticks/Sticks.cpp
index 0150e4af2f..31d06421f3 100644
--- a/src/lib/sticks/Sticks.cpp
+++ b/src/lib/sticks/Sticks.cpp
@@ -50,18 +50,11 @@ bool Sticks::checkAndUpdateStickInputs()
 	manual_control_setpoint_s manual_control_setpoint;
 
 	if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
-		// Linear scale
 		_positions(0) = manual_control_setpoint.pitch;
 		_positions(1) = manual_control_setpoint.roll;
 		_positions(2) = -manual_control_setpoint.throttle;
 		_positions(3) = manual_control_setpoint.yaw;
 
-		// Exponential scale
-		_positions_expo(0) = math::expo_deadzone(_positions(0), _param_mpc_xy_man_expo.get(), _param_man_deadzone.get());
-		_positions_expo(1) = math::expo_deadzone(_positions(1), _param_mpc_xy_man_expo.get(), _param_man_deadzone.get());
-		_positions_expo(2) = math::expo_deadzone(_positions(2), _param_mpc_z_man_expo.get(),  _param_man_deadzone.get());
-		_positions_expo(3) = math::expo_deadzone(_positions(3), _param_mpc_yaw_expo.get(),    _param_man_deadzone.get());
-
 		_aux_positions(0) = manual_control_setpoint.aux1;
 		_aux_positions(1) = manual_control_setpoint.aux2;
 		_aux_positions(2) = manual_control_setpoint.aux3;
@@ -85,7 +78,6 @@ bool Sticks::checkAndUpdateStickInputs()
 	if (!_input_available) {
 		// Timeout: set all sticks to zero
 		_positions.zero();
-		_positions_expo.zero();
 	}
 
 	return _input_available;
diff --git a/src/lib/sticks/Sticks.hpp b/src/lib/sticks/Sticks.hpp
index a169549b01..56d6016386 100644
--- a/src/lib/sticks/Sticks.hpp
+++ b/src/lib/sticks/Sticks.hpp
@@ -58,21 +58,17 @@ public:
 
 	bool isAvailable() { return _input_available; };
 
-	// Position : 0 : pitch, 1 : roll, 2 : throttle, 3 : yaw
-	const matrix::Vector4f &getPosition() { return _positions; }; // Raw stick position, no deadzone
-	const matrix::Vector4f &getPositionExpo() { return _positions_expo; }; // Deadzone and expo applied
-
 	// Helper functions to get stick values more intuitively
 	float getRoll() const { return _positions(1); }
-	float getRollExpo() const { return _positions_expo(1); }
+	float getRollExpo() const { return math::expo_deadzone(_positions(1), _param_mpc_xy_man_expo.get(), _param_man_deadzone.get()); }
 	float getPitch() const { return _positions(0); }
-	float getPitchExpo() const { return _positions_expo(0); }
+	float getPitchExpo() const { return math::expo_deadzone(_positions(0), _param_mpc_xy_man_expo.get(), _param_man_deadzone.get()); }
 	float getYaw() const { return _positions(3); }
-	float getYawExpo() const { return _positions_expo(3); }
+	float getYawExpo() const { return math::expo_deadzone(_positions(3), _param_mpc_yaw_expo.get(), _param_man_deadzone.get()); }
 	float getThrottleZeroCentered() const { return -_positions(2); } // Convert Z-axis(down) command to Up-axis frame
-	float getThrottleZeroCenteredExpo() const { return -_positions_expo(2); }
+	float getThrottleZeroCenteredExpo() const { return -math::expo_deadzone(_positions(2), _param_mpc_z_man_expo.get(), _param_man_deadzone.get()); }
 	const matrix::Vector2f getPitchRoll() { return _positions.slice<2, 1>(0, 0); }
-	const matrix::Vector2f getPitchRollExpo() { return _positions_expo.slice<2, 1>(0, 0); }
+	const matrix::Vector2f getPitchRollExpo() { return {getPitchExpo(), getRollExpo()}; }
 
 	const matrix::Vector<float, 6> &getAux() const { return _aux_positions; }
 
@@ -93,7 +89,6 @@ public:
 private:
 	bool _input_available{false};
 	matrix::Vector4f _positions; ///< unmodified manual stick inputs that usually move vehicle in x, y, z and yaw direction
-	matrix::Vector4f _positions_expo; ///< modified manual sticks using expo function
 
 	matrix::Vector<float, 6> _aux_positions;