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Rework Iterm Shrink for AIR Mode

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Rework Iterm Shrink for AIR Mode part 2
This commit is contained in:
borisbstyle 2015-12-09 00:37:42 +01:00
parent 66fb254d62
commit 6a4682908f
4 changed files with 32 additions and 23 deletions
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2
src/main/flight/pid.c
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@ -321,7 +321,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
if (CALC_OFFSET(errorGyroI[axis]) < CALC_OFFSET(previousErrorGyroI[axis])) {
previousErrorGyroI[axis] = errorGyroI[axis];
} else {
errorGyroIf[axis] = constrain(errorGyroIf[axis], -CALC_OFFSET(previousErrorGyroI[axis]), CALC_OFFSET(previousErrorGyroI[axis]));
errorGyroI[axis] = constrain(errorGyroI[axis], -CALC_OFFSET(previousErrorGyroI[axis]), CALC_OFFSET(previousErrorGyroI[axis]));
}
} else {
previousErrorGyroI[axis] = errorGyroI[axis];