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Ensure that rcRate great than 1.0 doesn't cause stability issues when

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aircraft is inverted.  See #281.
This commit is contained in:
Dominic Clifton 2015-01-02 19:20:30 +00:00
parent 98343af7a2
commit 98b258e83f
1 changed files with 2 additions and 1 deletions
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3
src/main/flight/flight.c
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@ -189,7 +189,8 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
UNUSED(controlRateConfig); UNUSED(controlRateConfig);
// **** PITCH & ROLL & YAW PID **** // **** PITCH & ROLL & YAW PID ****
prop = max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])); // range [0;500] prop = min(max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])), 500); // range [0;500]
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
// observe max inclination // observe max inclination