Paolo Lupo

Hi @bchevalier, I'm interested in making this engine faster. I tried your solution but honestly I didn't find any performance improvements :( This is how I tested it (very handmade):...

I was able to obtain a reliable result with my test code, here what came out: (I intentionally alternated the standard and new code tests) Short version: ``` standard Resolver.solveVelocity:...

Hi @bchevalier , I partially found the cause of the problem of my result. My test basically creates a backup of the "standard" Resolver.solveVelocity function, defines your function and then...

Hi @Quick-Flash, @nerdCopter, reading the descriptio: `m1 = -roll+pitch-yaw = 0.09 = -0.03roll+0.03pitch-0.3yaw` the contribute is not "distributed" in that way, on every single motor but the total motors' contribute...

Hi @Quick-Flash! It's not the thrust linearization thing the main "problem" (although it *should* be kept in consideration it is the only reason because the 2PASS mixer exists: handling roll...