From f70cb8177e4c1819c3f68ce13a3e7d7985a0c308 Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Mon, 18 Jan 2016 11:50:45 +0100 Subject: [PATCH] Insane Acro factor renamed to Acro plus factor // Rates are softened --- src/main/flight/pid.c | 8 ++++---- src/main/io/serial_cli.c | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index ebba2cc963..c15a5592f8 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -148,9 +148,9 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa // ----------PID controller---------- for (axis = 0; axis < 3; axis++) { - uint8_t rate = 0; + uint8_t rate = 10; // -----Get the desired angle rate depending on flight mode - if (axis == YAW && !pidProfile->airModeInsaneAcrobilityFactor) { + if (axis == YAW || !pidProfile->airModeInsaneAcrobilityFactor || !IS_RC_MODE_ACTIVE(BOXAIRMODE)) { rate = controlRateConfig->rates[axis]; } @@ -280,9 +280,9 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat // ----------PID controller---------- for (axis = 0; axis < 3; axis++) { - uint8_t rate = 0; + uint8_t rate = 10; // -----Get the desired angle rate depending on flight mode - if (axis == YAW || !pidProfile->airModeInsaneAcrobilityFactor) { + if (axis == YAW || !pidProfile->airModeInsaneAcrobilityFactor || !IS_RC_MODE_ACTIVE(BOXAIRMODE)) { rate = controlRateConfig->rates[axis]; } diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index 4ac40af2c4..8893438cdc 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -659,7 +659,7 @@ const clivalue_t valueTable[] = { { "gyro_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gyro_lpf_hz, .config.minmax = {0, 255 } }, { "dterm_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 255 } }, - { "insane_acro_factor", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.airModeInsaneAcrobilityFactor, .config.minmax = {0, 100 } }, + { "acro_plus_factor", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.airModeInsaneAcrobilityFactor, .config.minmax = {0, 100 } }, #ifdef BLACKBOX { "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_num, .config.minmax = { 1, 32 } },