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Luxfloat Level Mode (rcCommand scaled to max_angle_inclination)

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borisbstyle 2015-08-20 00:08:09 +02:00
parent a687e35065
commit 77effd3b71
1 changed files with 4 additions and 4 deletions
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8
src/main/flight/pid.c
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@ -149,11 +149,11 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
} else {
// calculate error and limit the angle to the max inclination
#ifdef GPS
errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
errorAngle = (constrainf(((float)rcCommand[axis] * ((float)max_angle_inclination / 500.0f)) + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f;
#else
errorAngle = (constrain(rcCommand[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
errorAngle = (constrainf((float)rcCommand[axis] * ((float)max_angle_inclination / 500.0f), -((int) max_angle_inclination),
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f;
#endif
#ifdef AUTOTUNE