Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-18 22:05:15 +03:00
Code Issues Wiki Activity

Add deadband

Browse source
This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-12-26 18:19:52 +01:00
parent f80e44ac41
commit c5bc1903f7
4 changed files with 9 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/navigation/navigation_fixedwing.c
View file

@ -359,7 +359,7 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
float yawAdjustment = navPidApply2(
&posControl.pids.fw_heading,
0,
navHeadingError,
applyDeadband(navHeadingError, navConfig()->fw.yawControlDeadband * 100),
US2S(deltaMicros),
-limit,
limit,