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Add rcYawRate into Blackbox header and Calculate Rate Function

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Add the new Yaw Rate parameter into the log header
This commit is contained in:
Gary Keeble 2016-06-03 15:18:54 +01:00
parent 9f5d335681
commit db5184d603
2 changed files with 41 additions and 38 deletions
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2
src/main/flight/pid.c
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@ -79,7 +79,7 @@ float calculateRate(int axis, const controlRateConfig_t *controlRateConfig) {
float angleRate;
if (isSuperExpoActive()) {
float rcFactor = (axis == YAW) ? (ABS(rcCommand[axis]) / 500.0f) : (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcRate8 / 100.0f)));
float rcFactor = (axis == YAW) ? (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcYawRate8 / 100.0f))) : (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcRate8 / 100.0f)));
rcFactor = 1.0f / (constrainf(1.0f - (rcFactor * (controlRateConfig->rates[axis] / 100.0f)), 0.01f, 1.00f));
angleRate = rcFactor * ((27 * rcCommand[axis]) / 16.0f);