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Merge pull request #2547 from ethomas999/angleTrimSignFix

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Fixed sign of angleTrim value in pid.c
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borisbstyle 2017-03-07 00:21:29 +01:00 • committed by GitHub
commit b9c2913c09
1 changed files with 1 additions and 1 deletions
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src/main/flight/pid.c
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@ -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;