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Code Issues Wiki Activity

Adjust Delta Scaling on MW23

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borisbstyle 2016-02-26 00:45:43 +01:00
parent 14bd2ccc7f
commit bc23418cec
1 changed files with 1 additions and 1 deletions
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2
src/main/flight/pid.c
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@ -361,7 +361,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
}
// Scale delta to looptime
delta = (delta * ((uint16_t) 0xFFFF)) / ((uint16_t)targetPidLooptime << 3);
delta = (delta * ((uint16_t) 0xFFFF)) / ((uint16_t)targetPidLooptime << 5);
if (deltaStateIsSet) {
DTerm = lrintf(applyBiQuadFilter((float) delta, &deltaBiQuadState[axis])) * 3; // Keep same scaling as unfiltered delta