Correct rate comment
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@ -169,7 +169,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
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AngleRate = errorAngle * pidProfile->A_level;
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} else {
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//control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
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AngleRate = (float)((rate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max yaw rate
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AngleRate = (float)((rate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max roll/pitch rate
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if (FLIGHT_MODE(HORIZON_MODE)) {
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// mix up angle error to desired AngleRate to add a little auto-level feel
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AngleRate += errorAngle * pidProfile->H_level * horizonLevelStrength;
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