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Floating point inflight adjustments adjust by 0.01 instead of 0.1

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Stephen Willey 2015-09-07 09:56:12 -07:00 • committed by Stephen F Willey
parent d564b2f3a6
commit 38dd09f9b5
2 changed files with 6 additions and 6 deletions
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6
src/main/io/rc_controls.c
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@ -529,7 +529,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
case ADJUSTMENT_PITCH_ROLL_P:
case ADJUSTMENT_PITCH_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = constrainf(pidProfile->P_f[PIDPITCH] + (float)(delta / 10.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = constrainf(pidProfile->P_f[PIDPITCH] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P_f[PIDPITCH] = newFloatValue;
blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_PITCH_P, newFloatValue);
} else {
@ -543,7 +543,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
// follow though for combined ADJUSTMENT_PITCH_ROLL_P
case ADJUSTMENT_ROLL_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = constrainf(pidProfile->P_f[PIDROLL] + (float)(delta / 10.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = constrainf(pidProfile->P_f[PIDROLL] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P_f[PIDROLL] = newFloatValue;
blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_ROLL_P, newFloatValue);
} else {
@ -606,7 +606,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
break;
case ADJUSTMENT_YAW_P:
if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
newFloatValue = constrainf(pidProfile->P_f[PIDYAW] + (float)(delta / 10.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
newFloatValue = constrainf(pidProfile->P_f[PIDYAW] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
pidProfile->P_f[PIDYAW] = newFloatValue;
blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_YAW_P, newFloatValue);
} else {