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fixedWingPitchToThrottleCorrection definition bugfix

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This commit is contained in:
Airwide 2020-11-12 03:02:03 +01:00
parent cc47513004
commit dab9f95c69
3 changed files with 4 additions and 4 deletions
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4
src/main/navigation/navigation_fixedwing.c
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@ -479,9 +479,9 @@ int16_t fixedWingPitchToThrottleCorrection(int16_t pitch, timeUs_t currentTimeUs
static pt1Filter_t pitchToThrFilterState;
// Apply low-pass filter to pitch angle to smooth throttle correction
filteredPitch = pt1FilterApply4(&pitchToThrFilterState, pitch, getPitchToThrottleSmoothnessCutoffFreq(NAV_FW_BASE_PITCH_CUTOFF_FREQUENCY_HZ), US2S(deltaMicrosPitchToThrCorr));
int16_t filteredPitch = (int16_t)pt1FilterApply4(&pitchToThrFilterState, pitch, getPitchToThrottleSmoothnessCutoffFreq(NAV_FW_BASE_PITCH_CUTOFF_FREQUENCY_HZ), US2S(deltaMicrosPitchToThrCorr));
if (abs(pitch - filteredPitch) > navConfig()->fw.pitch_to_throttle_thresh) {
if (ABS(pitch - filteredPitch) > navConfig()->fw.pitch_to_throttle_thresh) {
// Unfiltered throttle correction outside of pitch deadband
return DECIDEGREES_TO_DEGREES(pitch) * navConfig()->fw.pitch_to_throttle;
}