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Merge pull request #7884 from etracer65/gps_rescue_throttle_pid_fix

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Fix GPS Rescue throttle PID calculation
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Michael Keller 2019-03-29 19:42:13 +13:00 • committed by GitHub
commit fa3fd566e4
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1 changed files with 1 additions and 1 deletions
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src/main/flight/gps_rescue.c
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@ -299,7 +299,7 @@ static void rescueAttainPosition()
previousAltitudeError = altitudeError;
const int16_t altitudeAdjustment = (gpsRescueConfig()->throttleP * altitudeError + (gpsRescueConfig()->throttleI * altitudeIntegral) / 10 * + gpsRescueConfig()->throttleD * altitudeDerivative) / ct / 20;
const int16_t altitudeAdjustment = (gpsRescueConfig()->throttleP * altitudeError + (gpsRescueConfig()->throttleI * altitudeIntegral) / 10 + gpsRescueConfig()->throttleD * altitudeDerivative) / ct / 20;
const int16_t hoverAdjustment = (hoverThrottle - 1000) / ct;
rescueThrottle = constrain(1000 + altitudeAdjustment + hoverAdjustment, gpsRescueConfig()->throttleMin, gpsRescueConfig()->throttleMax);