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Insane Acro factor renamed to Acro plus factor // Rates are softened

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This commit is contained in:
borisbstyle 2016-01-18 11:50:45 +01:00
parent f69943d095
commit f70cb8177e
2 changed files with 5 additions and 5 deletions
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8
src/main/flight/pid.c
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@ -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];
}