From 15a60b9e1f303f6b18edf9b706bb05fa3ce9525d Mon Sep 17 00:00:00 2001
From: ctzsnooze <chris.thompson@sydney.edu.au>
Date: Mon, 26 Jul 2021 15:29:02 +1000
Subject: [PATCH] allow feedforward in level modes

---
 src/main/flight/pid.c | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index a76452305..2175e3cca 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -1100,9 +1100,11 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
         pidRuntime.oldSetpointCorrection[axis] = setpointCorrection;
 #endif
 
-        // Only enable feedforward for rate mode and if launch control is inactive
-        const float feedforwardGain = (flightModeFlags || launchControlActive) ? 0.0f : pidRuntime.pidCoefficient[axis].Kf;
+        // no feedforward in launch control
+        float feedforwardGain = launchControlActive ? 0.0f : pidRuntime.pidCoefficient[axis].Kf;
         if (feedforwardGain > 0) {
+            // halve feedforward in Level mode since stick sensitivity is weaker by about half
+            feedforwardGain *= FLIGHT_MODE(ANGLE_MODE) ? 0.5f : 1.0f;
             // no transition if feedforwardTransition == 0
             float transition = pidRuntime.feedforwardTransition > 0 ? MIN(1.f, getRcDeflectionAbs(axis) * pidRuntime.feedforwardTransition) : 1;
             float feedForward = feedforwardGain * transition * pidSetpointDelta * pidRuntime.pidFrequency;