diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index e756500bd3..21b73a6494 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -169,7 +169,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa AngleRate = errorAngle * pidProfile->A_level; } else { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID - AngleRate = (float)((rate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max yaw rate + AngleRate = (float)((rate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max roll/pitch rate if (FLIGHT_MODE(HORIZON_MODE)) { // mix up angle error to desired AngleRate to add a little auto-level feel AngleRate += errorAngle * pidProfile->H_level * horizonLevelStrength;