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Fix Luxfloat Iterm drift

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borisbstyle 2016-02-09 08:52:52 +01:00
parent f5375291ca
commit 801a385b6a
1 changed files with 1 additions and 1 deletions
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2
src/main/flight/pid.c
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@ -202,7 +202,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f); errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
if (IS_RC_MODE_ACTIVE(BOXAIRMODE) || IS_RC_MODE_ACTIVE(BOXACROPLUS)) { if (IS_RC_MODE_ACTIVE(BOXAIRMODE) || IS_RC_MODE_ACTIVE(BOXACROPLUS)) {
errorGyroIf[axis] = (int32_t) (errorGyroIf[axis] * scaleItermToRcInput(axis)); errorGyroIf[axis] *= scaleItermToRcInput(axis);
if (antiWindupProtection || motorLimitReached) { if (antiWindupProtection || motorLimitReached) {
errorGyroIf[axis] = constrainf(errorGyroIf[axis], -errorGyroIfLimit[axis], errorGyroIfLimit[axis]); errorGyroIf[axis] = constrainf(errorGyroIf[axis], -errorGyroIfLimit[axis], errorGyroIfLimit[axis]);
} else { } else {