From 49727709071da8bfa3eae2f6932b0f6b44cf1ff4 Mon Sep 17 00:00:00 2001
From: dongie <timecop@gmail.com>
Date: Tue, 26 Nov 2013 11:31:23 +0900
Subject: [PATCH] correction of calculation for throttle angle correction
 (should really just replace with cosf() at some point

---
 src/imu.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/imu.c b/src/imu.c
index d4a738006..e14fb3280 100755
--- a/src/imu.c
+++ b/src/imu.c
@@ -315,7 +315,7 @@ static void getEstimatedAttitude(void)
     acc_calc(deltaT); // rotate acc vector into earth frame
 
     if (cfg.throttle_angle_correction) {
-        int cosZ = EstG.V.Z / acc_1G * 100.0f;
+        int cosZ = EstG.V.Z / (acc_1G * 100.0f);
         throttleAngleCorrection = cfg.throttle_angle_correction * constrain(100 - cosZ, 0, 100) / 8;
     }
 }