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Code tidy. Renamed vbatscale in blackbox

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This commit is contained in:
Martin Budden 2017-03-31 07:44:28 +01:00
parent 86b3d862a2
commit 318fd2ee15
3 changed files with 6 additions and 8 deletions
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10
src/main/flight/pid.c
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@ -273,13 +273,13 @@ static float calcHorizonLevelStrength(void) {
static float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) {
// calculate error angle and limit the angle to the max inclination
float errorAngle = pidProfile->levelSensitivity * getRcDeflection(axis);
float angle = pidProfile->levelSensitivity * getRcDeflection(axis);
#ifdef GPS
errorAngle += GPS_angle[axis];
angle += GPS_angle[axis];
#endif
errorAngle = constrainf(errorAngle, -pidProfile->levelAngleLimit, pidProfile->levelAngleLimit);
errorAngle = errorAngle - ((attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f);
if(FLIGHT_MODE(ANGLE_MODE)) {
angle = constrainf(angle, -pidProfile->levelAngleLimit, pidProfile->levelAngleLimit);
const float errorAngle = angle - ((attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f);
if (FLIGHT_MODE(ANGLE_MODE)) {
// ANGLE mode - control is angle based, so control loop is needed
currentPidSetpoint = errorAngle * levelGain;
} else {