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ITerm relax feature

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This commit is contained in:
Thorsten Laux 2018-05-24 15:05:03 +02:00
parent d330ad519e
commit 85b0f6f9c2
2 changed files with 748 additions and 1 deletions
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2
src/main/flight/pid.c
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@ -708,7 +708,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
currentPidSetpoint = 0.0f;
}
#endif // USE_YAW_SPIN_RECOVERY
// -----calculate error rate
const float gyroRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec
float errorRate = currentPidSetpoint - gyroRate; // r - y