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Code Issues Wiki Activity

RP rate Insane Acro Ignored

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borisbstyle 2016-01-18 01:56:53 +01:00
parent a105af1225
commit bdac49da60
1 changed files with 9 additions and 2 deletions
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11
src/main/flight/pid.c
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@ -148,8 +148,11 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// ----------PID controller---------- // ----------PID controller----------
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
uint8_t rate = 0;
// -----Get the desired angle rate depending on flight mode // -----Get the desired angle rate depending on flight mode
uint8_t rate = controlRateConfig->rates[axis]; if (axis == YAW && !pidProfile->airModeInsaneAcrobilityFactor) {
rate = controlRateConfig->rates[axis];
}
if (axis == FD_YAW) { if (axis == FD_YAW) {
// YAW is always gyro-controlled (MAG correction is applied to rcCommand) 100dps to 1100dps max yaw rate // YAW is always gyro-controlled (MAG correction is applied to rcCommand) 100dps to 1100dps max yaw rate
@ -277,7 +280,11 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// ----------PID controller---------- // ----------PID controller----------
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
uint8_t rate = controlRateConfig->rates[axis]; uint8_t rate = 0;
// -----Get the desired angle rate depending on flight mode
if (axis == YAW || !pidProfile->airModeInsaneAcrobilityFactor) {
rate = controlRateConfig->rates[axis];
}
// -----Get the desired angle rate depending on flight mode // -----Get the desired angle rate depending on flight mode
if (axis == FD_YAW) { if (axis == FD_YAW) {