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Fixes and cleanups to the new Airmode code

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borisbstyle 2016-02-06 22:13:44 +01:00
parent 035b34bbc4
commit 3b84cddc3d
2 changed files with 16 additions and 32 deletions
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2
src/main/flight/pid.c
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@ -87,7 +87,7 @@ float scaleItermToRcInput(int axis) {
static float iTermScaler[3] = {1.0f, 1.0f, 1.0f};
static float antiWindUpIncrement = 0;
if (antiWindUpIncrement) antiWindUpIncrement = 0.001 * (targetLooptime / 500); // Calculate increment for 500ms period
if (!antiWindUpIncrement) antiWindUpIncrement = (0.001 / 500) * targetLooptime; // Calculate increment for 500ms period
if (ABS(rcCommandReflection) > 0.7f && (!flightModeFlags)) { /* scaling should not happen in level modes */
/* Reset Iterm on high stick inputs. No scaling necessary here */