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Fix truncation in horizonstrength calculation

This commit is contained in:
borisbstyle 2015-05-14 20:00:35 +02:00
parent 0b274cc6e8
commit 3c1b678a37
1 changed files with 2 additions and 2 deletions
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4
src/main/flight/pid.c
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@ -679,13 +679,13 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
horizonLevelStrength = (500 - mostDeflectedPos) / 5; // 100 at centre stick, 0 = max stick deflection
// PID D Level Term is used for Horizon Sensitivity. It is adjusted so the default value of 100 works pretty well.
// Default Level D term of 100 equals to 80% sensitivity and 125 and above is 100% sensitivity
// Default Level D term of 100 equals to 80% sensitivity and 125 and above is 100% sensitivity. It is scaled to prevent too much truncating n integers
if(pidProfile->D8[PIDLEVEL] == 0){
horizonLevelStrength = 0;
} else if (pidProfile->D8[PIDLEVEL] >= 125){
horizonLevelStrength = 100;
} else {
horizonLevelStrength = constrainf(((horizonLevelStrength - 100) * (125 / pidProfile->D8[PIDLEVEL])) + 100, 0, 100);
horizonLevelStrength = constrain((10 * (horizonLevelStrength - 100) * (10 * pidProfile->D8[PIDLEVEL] / 125) / 100) + 100, 0, 100);
}
}