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Code Issues Wiki Activity

Iterm range for MW23 more sensitive

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borisbstyle 2016-03-21 00:08:10 +01:00
parent 087e3ae0f4
commit adedc3fe81
1 changed files with 1 additions and 1 deletions
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2
src/main/flight/pid.c
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@ -311,7 +311,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
gyroError = gyroADC[axis] / 4;
error = rc - gyroError;
errorGyroI[axis] = constrain(errorGyroI[axis] + ((error * (uint16_t)targetPidLooptime) >> 12) , -16000, +16000); // WindUp 16 bits is ok here
errorGyroI[axis] = constrain(errorGyroI[axis] + ((error * (uint16_t)targetPidLooptime) >> 11) , -16000, +16000); // WindUp 16 bits is ok here
if (ABS(gyroADC[axis]) > (640 * 4)) {
errorGyroI[axis] = 0;