Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 00:05:33 +03:00
Code Issues Wiki Activity

Merge remote-tracking branch 'upstream/master'

Browse source
This commit is contained in:
Nicholas Sherlock 2015-01-04 10:35:59 +13:00
commit 6c2ce5038c
12 changed files with 151 additions and 89 deletions
Download patch file Download diff file Expand all files Collapse all files

3
src/main/flight/flight.c
View file

@ -194,7 +194,8 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
UNUSED(controlRateConfig);
// **** PITCH & ROLL & YAW PID ****
prop = max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])); // range [0;500]
prop = min(max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])), 500); // range [0;500]
for (axis = 0; axis < 3; axis++) {
if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
// observe max inclination