From 05f70a80da5b500bec6dbee5171cc5d2e20a243d Mon Sep 17 00:00:00 2001 From: ctzsnooze Date: Mon, 30 Oct 2023 02:37:27 +1100 Subject: [PATCH] bug fix for DMax Setpoint Factor (#13145) fix too high DMax Setpoint Factor --- src/main/flight/pid_init.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/flight/pid_init.c b/src/main/flight/pid_init.c index e1563ad9e8..297f78438e 100644 --- a/src/main/flight/pid_init.c +++ b/src/main/flight/pid_init.c @@ -403,8 +403,8 @@ void pidInitConfig(const pidProfile_t *pidProfile) pidRuntime.dMinPercent[axis] = 0; } } - pidRuntime.dMinGyroGain = pidProfile->d_min_gain * D_MIN_GAIN_FACTOR / D_MIN_LOWPASS_HZ; - pidRuntime.dMinSetpointGain = pidProfile->d_min_gain * D_MIN_SETPOINT_GAIN_FACTOR * pidProfile->d_min_advance * pidRuntime.pidFrequency / (100 * D_MIN_LOWPASS_HZ); + pidRuntime.dMinGyroGain = D_MIN_GAIN_FACTOR * pidProfile->d_min_gain / D_MIN_LOWPASS_HZ; + pidRuntime.dMinSetpointGain = D_MIN_SETPOINT_GAIN_FACTOR * pidProfile->d_min_gain * pidProfile->d_min_advance / 100.0f / D_MIN_LOWPASS_HZ; // lowpass included inversely in gain since stronger lowpass decreases peak effect #endif