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Fix level mode in betaflight PID controller

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borisbstyle 2016-09-10 23:29:48 +02:00
parent 4a573d65c9
commit cb16d65532
2 changed files with 3 additions and 3 deletions
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4
src/main/flight/pid.c
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@ -218,11 +218,11 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
#endif
if (FLIGHT_MODE(ANGLE_MODE)) {
// ANGLE mode - control is angle based, so control loop is needed
setpointRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;
ptermSetpointRate[axis] = setpointRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;
} else {
// HORIZON mode - direct sticks control is applied to rate PID
// mix up angle error to desired AngleRate to add a little auto-level feel
setpointRate[axis] = setpointRate[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 10.0f);
ptermSetpointRate[axis] = setpointRate[axis] = setpointRate[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 10.0f);
}
}