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Fix bug that D-term was not active on fw

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This commit is contained in:
Alexander van Saase 2021-05-24 16:08:31 +02:00
parent 072d5ba761
commit db3300bd85
1 changed files with 1 additions and 1 deletions
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src/main/flight/pid.c
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@ -795,7 +795,7 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -pidProfile()->fixedWingItermThrowLimit, pidProfile()->fixedWingItermThrowLimit);
}
axisPID[axis] = constrainf(newPTerm + newFFTerm + pidState->errorGyroIf, -pidState->pidSumLimit, +pidState->pidSumLimit);
axisPID[axis] = constrainf(newPTerm + newFFTerm + pidState->errorGyroIf + newDTerm, -pidState->pidSumLimit, +pidState->pidSumLimit);
#ifdef USE_AUTOTUNE_FIXED_WING
if (FLIGHT_MODE(AUTO_TUNE) && !FLIGHT_MODE(MANUAL_MODE)) {