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Code Issues Wiki Activity

Fix broken Level Modes

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borisbstyle 2016-06-01 22:09:22 +02:00
parent a3c1f6e168
commit c45475b8af
1 changed files with 2 additions and 2 deletions
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4
src/main/flight/pid.c
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@ -174,7 +174,7 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
// ACRO mode, control is GYRO based, direct sticks control is applied to rate PID // ACRO mode, control is GYRO based, direct sticks control is applied to rate PID
AngleRate = calculateRate(axis, controlRateConfig); AngleRate = calculateRate(axis, controlRateConfig);
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) { if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
// calculate error angle and limit the angle to the max inclination // calculate error angle and limit the angle to the max inclination
#ifdef GPS #ifdef GPS
const float errorAngle = (constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination), const float errorAngle = (constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
@ -299,7 +299,7 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
// -----Get the desired angle rate depending on flight mode // -----Get the desired angle rate depending on flight mode
AngleRateTmp = (int32_t)calculateRate(axis, controlRateConfig); AngleRateTmp = (int32_t)calculateRate(axis, controlRateConfig);
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) { if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
// calculate error angle and limit the angle to max configured inclination // calculate error angle and limit the angle to max configured inclination
#ifdef GPS #ifdef GPS
const int32_t errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination), const int32_t errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),