Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 04:45:24 +03:00
Code Issues Wiki Activity

Corrected missed USE_ACC logic and some minor cleanup (#14093)

Browse source
This commit is contained in:
Jay Blackman 2024-12-21 01:22:22 +11:00 • committed by GitHub
parent f27da4ed8d
commit 7dec49ce42
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
7 changed files with 13 additions and 5 deletions
Download patch file Download diff file Expand all files Collapse all files

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

@ -1328,7 +1328,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
float pidSetpointDelta = 0;
#ifdef USE_FEEDFORWARD
#if defined(USE_FEEDFORWARD) && defined(USE_ACC)
if (FLIGHT_MODE(ANGLE_MODE) && pidRuntime.axisInAngleMode[axis]) {
// this axis is fully under self-levelling control
// it will already have stick based feedforward applied in the input to their angle setpoint