From c92f511b05ff587167aa74d32fce0b67428111ee Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Sat, 16 Apr 2016 23:47:10 +0200 Subject: [PATCH] Match rewrite and luxfloat delta scaling during averaging --- src/main/flight/pid.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index 3809062c14..b54b058b55 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -249,7 +249,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa if (pidProfile->dterm_lpf_hz) delta = filterApplyPt1(delta, &deltaFilterState[axis], pidProfile->dterm_lpf_hz, getdT()); // Apply moving average - if (pidProfile->dterm_average_count) delta = filterApplyAveragef(delta, pidProfile->dterm_average_count, deltaState[axis]); + if (pidProfile->dterm_average_count) delta = filterApplyAveragef(delta, pidProfile->dterm_average_count, deltaState[axis]) * 2; DTerm = constrainf(luxDTermScale * delta * (float)pidProfile->D8[axis] * tpaFactor, -300.0f, 300.0f); }