From fe5a864a85784c74b64ad2bb582dd3470997f8ff Mon Sep 17 00:00:00 2001 From: Dominic Clifton Date: Wed, 16 Jul 2014 01:26:42 +0100 Subject: [PATCH] i-term zeroing fixed http://www.multiwii.com/forum/viewtopic.php?p=53441#p53402 --- src/main/flight/flight.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/flight/flight.c b/src/main/flight/flight.c index ad963c7a9b..cfd2b01ef8 100644 --- a/src/main/flight/flight.c +++ b/src/main/flight/flight.c @@ -194,7 +194,7 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa PTermGYRO = rcCommand[axis]; errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp - if ((abs(gyroData[axis]) > (640 * 4)) || (abs(rcCommand[axis]) > 50)) + if ((abs(gyroData[axis]) > (640 * 4)) || (axis == FD_YAW && abs(rcCommand[axis]) > 50)) errorGyroI[axis] = 0; ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) / 64;