Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-20 23:05:19 +03:00
Code Issues Wiki Activity

Fix wrong filter selection and Scaling in Rewrite

Browse source
This commit is contained in:
borisbstyle 2016-01-10 21:22:42 +01:00
parent e0e7db74f1
commit b6e0927f96
2 changed files with 3 additions and 4 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/flight/pid.c
View file

@ -364,7 +364,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
filterApplyFIR(&delta, deltaFIRState[axis], deltaFIRTable);
DTerm = (delta * 2 * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
DTerm = (delta * 3 * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
// -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm;