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Fix for negative innacuracy

This commit is contained in:
borisbstyle 2016-02-25 00:00:24 +01:00
parent 3f09e5a114
commit 1638124e3c
1 changed files with 3 additions and 3 deletions
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6
src/main/flight/pid.c
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@ -301,9 +301,9 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
rc = rcCommand[axis] << 1;
if (lowThrottlePidReduction) rc = rc >> 2;
if (lowThrottlePidReduction) rc /= 4;
gyroError = gyroADC[axis] >> 2;
gyroError = gyroADC[axis] / 4;
error = rc - gyroError;
errorGyroI[axis] = constrain(errorGyroI[axis] + ((error * (uint16_t)targetPidLooptime) >> 12) , -16000, +16000); // WindUp 16 bits is ok here
@ -379,7 +379,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
axisPID[axis] = PTerm + ITerm + DTerm;
if (lowThrottlePidReduction) axisPID[axis] = axisPID[axis] >> 2;
if (lowThrottlePidReduction) axisPID[axis] /= 4;
#ifdef GTUNE
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {