# experimental thrust curve
        # DELTA vs raw_thrust is linear with m (<1) slope up to raw_thust = k (<1)
        # and  linear with increased slope from m to 1
        # Gives DELTA between -1 and 1, to be converted to thrust units
        m = 0.3 # m between 0 and 0.5
        k = 0.9 # k between 0 and 1, the closer to 1 the later the higher slope kicks in
        lam = 250 # convert DELTA (-1 to 1) to thrust units

        try:
            data = self.inputdevice.readInput()
            roll = data["roll"] * self.maxRPAngle
            pitch = data["pitch"] * self.maxRPAngle
            yaw = data["yaw"]
            raw_thrust = data["thrust"]
            emergency_stop = data["estop"]
            trim_roll = data["rollcal"]
            trim_pitch = data["pitchcal"]

            # thrust computation
            # Thust limiting (slew, minimum)
            if self.emergencyStop != emergency_stop:
                self.emergencyStop = emergency_stop
                self.emergency_stop_updated.call(self.emergencyStop)
            if emergency_stop:
                thrust = 0
            else:
                t = abs(raw_thrust)
                if t < k:
                    DELTA = m * t
                else:
                    DELTA = m * t + (1-m)*(t-k)/(1-k)
                if raw_thrust < 0:
                    DELTA = -DELTA
                thrust = self.oldThrust + lam*DELTA
                if thrust > self.maxThrust:
                    thrust = self.maxThrust
                elif thrust < 0:
                    thrust = 0
            self.oldThrust = thrust