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resolved missing 0.01 in cross roll-yaw control formula

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demvlad 2025-04-19 21:02:05 +03:00
parent b95e336c0a
commit c764c1f093
1 changed files with 1 additions and 1 deletions
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src/main/flight/airplane_fcs.c
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@ -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) { 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); float k = (liftCoef - roll_yaw_clift_start) / (roll_yaw_clift_stop - roll_yaw_clift_start);
k = constrainf(k, 0.0f, 1.0f); 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; return crossYawControl;