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Disable SPA for angle mode - fix (for wings) (#13848)

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* Disable SPA for angle mode - fix (for wings)

* moved the logic for axisInAngleMode[axis] inside applySpa

* ledvinap's review
This commit is contained in:
Ivan Efimov 2024-08-27 11:57:00 -05:00 • committed by GitHub
parent f2bd6e69b2
commit 9205c4594f
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1 changed files with 7 additions and 1 deletions
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8
src/main/flight/pid.c
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@ -867,7 +867,13 @@ NOINLINE static void calculateSpaValues(const pidProfile_t *pidProfile)
NOINLINE static void applySpa(int axis, const pidProfile_t *pidProfile)
{
#ifdef USE_WING
switch(pidProfile->spa_mode[axis]){
spaMode_e mode = pidProfile->spa_mode[axis];
if (pidRuntime.axisInAngleMode[axis]) {
mode = SPA_MODE_OFF;
}
switch(mode) {
case SPA_MODE_PID:
pidData[axis].P *= pidRuntime.spa[axis];
pidData[axis].D *= pidRuntime.spa[axis];