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Merge pull request #6726 from ctzsnooze/iterm-relax-threshold-minor-fix

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use the defined value in both places
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Michael Keller 2018-09-10 20:49:50 +12:00 • committed by GitHub
commit 56b181a235
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src/main/flight/pid.c
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@ -920,7 +920,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
const bool isDecreasingI = ((ITerm > 0) && (itermErrorRate < 0)) || ((ITerm < 0) && (itermErrorRate > 0));
if ((itermRelax >= ITERM_RELAX_RP_INC) && isDecreasingI) {
// Do Nothing, use the precalculed itermErrorRate
} else if (itermRelaxType == ITERM_RELAX_SETPOINT && setpointHpf < 30) {
} else if (itermRelaxType == ITERM_RELAX_SETPOINT && setpointHpf < ITERM_RELAX_SETPOINT_THRESHOLD) {
itermErrorRate *= itermRelaxFactor;
} else if (itermRelaxType == ITERM_RELAX_GYRO ) {
itermErrorRate = fapplyDeadband(setpointLpf - gyroRate, setpointHpf);