Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 16:25:31 +03:00
Code Issues Wiki Activity

Fix for iterm ignore accuracy

Browse source
This commit is contained in:
borisbstyle 2016-05-24 08:31:00 +02:00
parent ff5c320b4a
commit 404e250b73
1 changed files with 1 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/flight/pid.c
View file

@ -104,7 +104,7 @@ uint16_t getDynamicKi(int axis, const pidProfile_t *pidProfile) {
resetRate = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
uint32_t dynamicFactor = (1 << 8) - constrain(ABS(gyroADC[axis] << 8) / resetRate, 0, 1 << 8);
uint32_t dynamicFactor = (1 << 8) - constrain((ABS(gyroADC[axis]) << 6) / resetRate, 0, 1 << 8);
dynamicKi = (pidProfile->I8[axis] * dynamicFactor) >> 8;