Iterm range for MW23 more sensitive
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@ -311,7 +311,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
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gyroError = gyroADC[axis] / 4;
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error = rc - gyroError;
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errorGyroI[axis] = constrain(errorGyroI[axis] + ((error * (uint16_t)targetPidLooptime) >> 12) , -16000, +16000); // WindUp 16 bits is ok here
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errorGyroI[axis] = constrain(errorGyroI[axis] + ((error * (uint16_t)targetPidLooptime) >> 11) , -16000, +16000); // WindUp 16 bits is ok here
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if (ABS(gyroADC[axis]) > (640 * 4)) {
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errorGyroI[axis] = 0;
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