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Configurable Angle Sensitivity Luxfloat

This commit is contained in:
borisbstyle 2015-11-13 15:17:43 +01:00
parent 59e66cfd54
commit 9190f1ad6b
1 changed files with 4 additions and 4 deletions
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8
src/main/flight/pid.c
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@ -142,11 +142,11 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
} else {
// calculate error and limit the angle to the max inclination
#ifdef GPS
errorAngle = (constrainf(((float)rcCommand[axis] * ((float)max_angle_inclination / 500.0f)) + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f;
errorAngle = (constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
#else
errorAngle = (constrainf((float)rcCommand[axis] * ((float)max_angle_inclination / 500.0f), -((int) max_angle_inclination),
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f;
errorAngle = (constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
+max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
#endif
if (FLIGHT_MODE(ANGLE_MODE)) {