From 2150fb4a08e4b7def8f0ddc6ee658ec341dda92a Mon Sep 17 00:00:00 2001 From: Dominic Clifton Date: Thu, 26 Jun 2014 00:40:19 +0100 Subject: [PATCH] Fixing missed multiwii scale factor accidentally removed from 432c43bab7e76f2d6ef66bd9cc8edf9289fbdae8 during merge. --- src/main/flight/flight.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/flight/flight.c b/src/main/flight/flight.c index 666cfae5c0..ad963c7a9b 100644 --- a/src/main/flight/flight.c +++ b/src/main/flight/flight.c @@ -194,7 +194,7 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa PTermGYRO = rcCommand[axis]; errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp - if ((abs(gyroData[axis]) > 640) || (abs(rcCommand[axis]) > 50)) + if ((abs(gyroData[axis]) > (640 * 4)) || (abs(rcCommand[axis]) > 50)) errorGyroI[axis] = 0; ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) / 64;