From 20b7a9fbfb86760b21644aee61b52bf10e842f91 Mon Sep 17 00:00:00 2001
From: luggi <luke128@cnh.at>
Date: Sat, 7 Jun 2014 15:32:08 +0200
Subject: [PATCH] yaw improvement

this should stop the copter from carrying on spinning at high yaw rates.
---
 src/mw.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/mw.c b/src/mw.c
index 32197bae2..4c7323598 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -326,7 +326,7 @@ static void pidMultiWii(void)
             PTermGYRO = rcCommand[axis];
 
             errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
-            if (abs(gyroData[axis]) > 640)
+            if ((abs(gyroData[axis]) > 640) || (abs(rcCommand[axis]) > 50))
                 errorGyroI[axis] = 0;
             ITermGYRO = (errorGyroI[axis] / 125 * cfg.I8[axis]) >> 6;
         }
@@ -370,7 +370,7 @@ static void pidRewrite(void)
     for (axis = 0; axis < 3; axis++) {
         // -----Get the desired angle rate depending on flight mode
         if (axis == 2) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
-            AngleRateTmp = (((int32_t)(cfg.yawRate + 27) * rcCommand[2]) >> 5);
+            AngleRateTmp = (((int32_t)(cfg.yawRate + 27) * rcCommand[YAW]) >> 5);
         } else {
             // calculate error and limit the angle to 50 degrees max inclination
             errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis]) / 10.0f; // 16 bits is ok here