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6956d85e10
Reduce the I gain for high rate errors to reduce bounce-back effects after flips. Up to 200 degrees the gain is almost not reduced (<25%), so this will only take noticeable effects for large errors (setpoint changes), where we actually want to have an effect. This allows to increase the MC_*RATE_I parameters w/o negative effects when doing flips (i.e. bounce-back after flips). The 400 degrees limit and the x^2 are empirical. The better the rate tracking in general (high P gain), the less this is required (because of the lower tracking error). At the same time it also does not harm, as the i_factor will always be close to 1.