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Adjusted PID scaling for the servo mixer.

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This commit is contained in:
mikeller 2017-01-14 01:23:55 +13:00
parent 322ae59051
commit 005731cfe5
2 changed files with 4 additions and 3 deletions
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6
src/main/flight/servos.c
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@ -341,9 +341,9 @@ STATIC_UNIT_TESTED void servoMixer(void)
input[INPUT_STABILIZED_YAW] = rcCommand[YAW];
} else {
// Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui
input[INPUT_STABILIZED_ROLL] = axisPIDf[ROLL];
input[INPUT_STABILIZED_PITCH] = axisPIDf[PITCH];
input[INPUT_STABILIZED_YAW] = axisPIDf[YAW];
input[INPUT_STABILIZED_ROLL] = axisPIDf[ROLL] * PID_SERVO_MIXER_SCALING;
input[INPUT_STABILIZED_PITCH] = axisPIDf[PITCH] * PID_SERVO_MIXER_SCALING;
input[INPUT_STABILIZED_YAW] = axisPIDf[YAW] * PID_SERVO_MIXER_SCALING;
// Reverse yaw servo when inverted in 3D mode
if (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig->midrc)) {