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Hi Jack! (Oh no, don't ride my airplane)... It was just a PI loop with current proportional to throttle, and Joe added a few lines to incorporate pwm duty and throttle sensitivity. It made his controller feel a little more like his Curtis I think. I just sent you that one since he had been happy with it.
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When I die, I would like to go peacefully, in my sleep, like my grandfather did. Not screaming and yelling like the passenger in his car.
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