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Increase Yaw rate offset rewrite to be closer to roll/pitch

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borisbstyle 2016-03-31 12:40:09 +02:00
parent 4c1b4a63be
commit f2cb5369c8
1 changed files with 1 additions and 1 deletions
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2
src/main/flight/pid.c
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@ -439,7 +439,7 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
// -----Get the desired angle rate depending on flight mode // -----Get the desired angle rate depending on flight mode
if (axis == FD_YAW) { if (axis == FD_YAW) {
// YAW is always gyro-controlled (MAG correction is applied to rcCommand) // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
AngleRateTmp = ((int32_t)(rate + 27) * rcCommand[YAW]) >> 5; AngleRateTmp = ((int32_t)(rate + 47) * rcCommand[YAW]) >> 5;
} else { } else {
AngleRateTmp = ((int32_t)(rate + 27) * rcCommand[axis]) >> 4; AngleRateTmp = ((int32_t)(rate + 27) * rcCommand[axis]) >> 4;
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) { if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {