diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index a534977e13..48679fb7e2 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -280,7 +280,7 @@ static float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPit errorAngle += GPS_angle[axis]; #endif errorAngle = constrainf(errorAngle, -pidProfile->levelAngleLimit, pidProfile->levelAngleLimit); - errorAngle = (errorAngle - ((attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f)); + errorAngle = errorAngle - ((attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f); if(FLIGHT_MODE(ANGLE_MODE)) { // ANGLE mode - control is angle based, so control loop is needed currentPidSetpoint = errorAngle * levelGain;