Revert "Removed code that cut off the last 25% of joystick motion in either...

Revert "Removed code that cut off the last 25% of joystick motion in either direction. I'm not sure what the original purpose of this code was."

This reverts commit 4c34fb38.

src/Joystick/Joystick.cc

@@ -438,6 +438,18 @@ void Joystick::run(void)
                 throttle_accu = std::max(static_cast<float>(-1.f), std::min(throttle_accu, static_cast<float>(1.f)));
                 throttle = throttle_accu;
             }
+
+            float roll_limited = std::max(static_cast<float>(-M_PI_4), std::min(roll, static_cast<float>(M_PI_4)));
+            float pitch_limited = std::max(static_cast<float>(-M_PI_4), std::min(pitch, static_cast<float>(M_PI_4)));
+            float yaw_limited = std::max(static_cast<float>(-M_PI_4), std::min(yaw, static_cast<float>(M_PI_4)));
+            float throttle_limited = std::max(static_cast<float>(-M_PI_4), std::min(throttle, static_cast<float>(M_PI_4)));
+
+            // Map from unit circle to linear range and limit
+            roll =      std::max(-1.0f, std::min(tanf(asinf(roll_limited)), 1.0f));
+            pitch =     std::max(-1.0f, std::min(tanf(asinf(pitch_limited)), 1.0f));
+            yaw =       std::max(-1.0f, std::min(tanf(asinf(yaw_limited)), 1.0f));
+            throttle =  std::max(-1.0f, std::min(tanf(asinf(throttle_limited)), 1.0f));
+            
             if ( _exponential ) {
                 // Exponential (0% to -50% range like most RC radios)
                 // 0 for no exponential