From adedc3fe81989ded51df763a815f40c9bf3004c5 Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Mon, 21 Mar 2016 00:08:10 +0100 Subject: [PATCH] Iterm range for MW23 more sensitive --- src/main/flight/pid.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index c8496db4a..85a74d956 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -311,7 +311,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control gyroError = gyroADC[axis] / 4; error = rc - gyroError; - errorGyroI[axis] = constrain(errorGyroI[axis] + ((error * (uint16_t)targetPidLooptime) >> 12) , -16000, +16000); // WindUp 16 bits is ok here + errorGyroI[axis] = constrain(errorGyroI[axis] + ((error * (uint16_t)targetPidLooptime) >> 11) , -16000, +16000); // WindUp 16 bits is ok here if (ABS(gyroADC[axis]) > (640 * 4)) { errorGyroI[axis] = 0;