From b32cc09e12945aab4da7f5ec990b3455a8e9a47b Mon Sep 17 00:00:00 2001
From: dongie <timecop@gmail.com>
Date: Wed, 21 May 2014 09:04:07 +0900
Subject: [PATCH] move code around to fix some gcc error that doesn't occur
 with real compilers

---
 src/mw.c | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/src/mw.c b/src/mw.c
index 66d366768f..58cc7daff1 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -362,13 +362,11 @@ static void pidRewrite(void)
     // ----------PID controller----------
     for (axis = 0; axis < 3; axis++) {
         // -----Get the desired angle rate depending on flight mode
-        if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2) { // MODE relying on ACC
-            // calculate error and limit the angle to max configured inclination
-            errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int)mcfg.max_angle_inclination), +mcfg.max_angle_inclination) - angle[axis] + cfg.angleTrim[axis]; // 16 bits is ok here
-        }
         if (axis == 2) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
             AngleRateTmp = (((int32_t)(cfg.yawRate + 27) * rcCommand[2]) >> 5);
         } else {
+            // calculate error and limit the angle to 50 degrees max inclination
+            errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis]) / 10.0f; // 16 bits is ok here
             if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
                 AngleRateTmp = ((int32_t)(cfg.rollPitchRate + 27) * rcCommand[axis]) >> 4;
                 if (f.HORIZON_MODE) {