From c764c1f093ffa6863bf12f072bd2b591339ec469 Mon Sep 17 00:00:00 2001
From: demvlad <demvlad2@yandex.ru>
Date: Sat, 19 Apr 2025 21:02:05 +0300
Subject: [PATCH] resolved missing 0.01 in cross roll-yaw control formula

---
 src/main/flight/airplane_fcs.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/flight/airplane_fcs.c b/src/main/flight/airplane_fcs.c
index b4f7f5824f..2aade7954c 100644
--- a/src/main/flight/airplane_fcs.c
+++ b/src/main/flight/airplane_fcs.c
@@ -140,7 +140,7 @@ static float rollToYawCrossLinkControl(const pidProfile_t *pidProfile, float rol
     if (pidProfile->afcs_roll_to_yaw_link && liftCoef > roll_yaw_clift_start) {
         float k = (liftCoef - roll_yaw_clift_start) / (roll_yaw_clift_stop - roll_yaw_clift_start);
         k = constrainf(k, 0.0f, 1.0f);
-        crossYawControl = k * rollPilotControl * (pidProfile->afcs_roll_to_yaw_link * 0.1f);
+        crossYawControl = k * (0.01f * rollPilotControl) * (pidProfile->afcs_roll_to_yaw_link * 0.1f);
     }
 
     return crossYawControl;