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Match rate limit for ptermSetpointRate

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borisbstyle 2016-09-09 11:38:46 +02:00
parent cab7b562d8
commit cfa0d68679
1 changed files with 1 additions and 1 deletions
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2
src/main/mw.c
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@ -202,7 +202,7 @@ void calculateSetpointRate(int axis, int16_t rc) {
if (currentControlRateProfile->rates[axis]) {
rcSuperfactor = 1.0f / (constrainf(1.0f - (ABS(rcCommandf) * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));
if (currentProfile->pidProfile.pidController == PID_CONTROLLER_BETAFLIGHT) {
ptermSetpointRate[axis] = angleRate * rcSuperfactor;
ptermSetpointRate[axis] = constrainf(angleRate * rcSuperfactor, -1998.0f, 1998.0f);
if (currentProfile->pidProfile.ptermSRateWeight < 100 && axis != YAW) {
const float pWeight = currentProfile->pidProfile.ptermSRateWeight / 100.0f;
angleRate = angleRate + (pWeight * ptermSetpointRate[axis] - angleRate);