From 94c7109a4c02e152d0e1d5a06a57ed0146e13d76 Mon Sep 17 00:00:00 2001
From: ctzsnooze <chris.thompson@sydney.edu.au>
Date: Mon, 9 Jul 2018 21:03:16 +1000
Subject: [PATCH] Changes, thanks mikeller and jirif

---
 src/main/flight/pid.c         | 12 +++++-------
 src/main/flight/pid.h         |  5 ++---
 src/main/interface/settings.c |  3 +--
 3 files changed, 8 insertions(+), 12 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 2a12cac32..9a4eb3e82 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -71,7 +71,7 @@ static FAST_RAM_ZERO_INIT float pidFrequency;
 static FAST_RAM_ZERO_INIT uint8_t antiGravityMode;
 static FAST_RAM_ZERO_INIT float antiGravityThrottleHpf;
 static FAST_RAM_ZERO_INIT uint16_t itermAcceleratorGain;
-static FAST_RAM float antiGravityOSDCutoff = 1.0f;
+static FAST_RAM float antiGravityOsdCutoff = 1.0f;
 static FAST_RAM_ZERO_INIT bool antiGravityEnabled;
 
 PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 2);
@@ -193,7 +193,7 @@ void pidSetItermAccelerator(float newItermAccelerator)
 
 bool pidOsdAntiGravityActive(void)
 {
-    return (itermAccelerator > antiGravityOSDCutoff);
+    return (itermAccelerator > antiGravityOsdCutoff);
 }
 
 void pidStabilisationState(pidStabilisationState_e pidControllerState)
@@ -467,9 +467,9 @@ void pidInitConfig(const pidProfile_t *pidProfile)
     // For the new AG it's a continuous floating value so we want to trigger the OSD
     // display when it exceeds 25% of its possible range. This gives a useful indication
     // of AG activity without excessive display.
-    antiGravityOSDCutoff = 1.0f;
+    antiGravityOsdCutoff = 1.0f;
     if (antiGravityMode == ANTI_GRAVITY_SMOOTH) {
-        antiGravityOSDCutoff += ((itermAcceleratorGain - 1000) / 1000.0f) * 0.25f;
+        antiGravityOsdCutoff += ((itermAcceleratorGain - 1000) / 1000.0f) * 0.25f;
     }
 
 #if defined(USE_SMART_FEEDFORWARD)
@@ -812,14 +812,12 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
 #endif
 
     // Dynamic i component,
-    // gradually scale back integration when above windup point
     if ((antiGravityMode == ANTI_GRAVITY_SMOOTH) && antiGravityEnabled) {
         itermAccelerator = 1 + fabsf(antiGravityThrottleHpf) * 0.01f * (itermAcceleratorGain - 1000);
         DEBUG_SET(DEBUG_ANTI_GRAVITY, 1, lrintf(antiGravityThrottleHpf * 1000));
     }
-    
     DEBUG_SET(DEBUG_ANTI_GRAVITY, 0, lrintf(itermAccelerator * 1000));
-
+    // gradually scale back integration when above windup point
     const float dynCi = MIN((1.0f - motorMixRange) * ITermWindupPointInv, 1.0f) * dT * itermAccelerator;
 
     // Dynamic d component, enable 2-DOF PID controller only for rate mode
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 3442e9d7f..25a17ec20 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -77,9 +77,8 @@ typedef struct pid8_s {
 } pid8_t;
 
 typedef enum {
-    ANTI_GRAVITY_OFF = 0,
-    ANTI_GRAVITY_STEP,
-    ANTI_GRAVITY_SMOOTH
+    ANTI_GRAVITY_SMOOTH,
+    ANTI_GRAVITY_STEP
 } antiGravityMode_e;
 
 typedef enum {
diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
index 939fb33d3..0b5fcb1c1 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -274,9 +274,8 @@ static const char * const lookupTableDtermLowpassType[] = {
 };
 
 static const char * const lookupTableAntiGravityMode[] = {
-    "OFF",
-    "STEP",
     "SMOOTH",
+    "STEP",
 };
 
 static const char * const lookupTableFailsafe[] = {