diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index ad999852e..c1b5b9b63 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -193,7 +193,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa // would be scaled by different dt each time. Division by dT fixes that. delta *= (1.0f / dT); - if (!pidProfile->gyro_soft_lpf) { + if (!pidProfile->dterm_cut_hz) { // add moving average here to reduce noise deltaSum = (delta1[axis] + delta2[axis] + delta) / 3; delta2[axis] = delta1[axis]; @@ -336,7 +336,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat // would be scaled by different dt each time. Division by dT fixes that. delta = (delta * ((uint16_t) 0xFFFF / ((uint16_t)targetLooptime >> 4))) >> 6; - if (!pidProfile->gyro_soft_lpf) { + if (!pidProfile->dterm_cut_hz) { // add moving average here to reduce noise deltaSum = delta1[axis] + delta2[axis] + delta; delta2[axis] = delta1[axis];