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correct drift

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This commit is contained in:
Thorsten Laux 2018-05-29 16:29:48 +02:00
parent 8fe07af613
commit bb71b6ec64
1 changed files with 1 additions and 1 deletions
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2
src/main/flight/pid.c
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@ -783,7 +783,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
const float gmax = MAX(gyroTargetHigh, gyroTargetLow); const float gmax = MAX(gyroTargetHigh, gyroTargetLow);
const float gmin = MIN(gyroTargetHigh, gyroTargetLow); const float gmin = MIN(gyroTargetHigh, gyroTargetLow);
if (gyroRate >= gmin && gyroRate <= gmax) { if (gyroRate >= gmin && gyroRate <= gmax) {
itermErrorRate = 0.0f; itermErrorRate = acCorrection;
} else { } else {
itermErrorRate = (gyroRate > gmax ? gmax : gmin ) - gyroRate; itermErrorRate = (gyroRate > gmax ? gmax : gmin ) - gyroRate;
} }