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Correct rate comment

This commit is contained in:
Scott Shawcroft 2015-07-09 12:13:03 -07:00
parent cae718559c
commit e67a1435cd
1 changed files with 1 additions and 1 deletions
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2
src/main/flight/pid.c
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@ -169,7 +169,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
AngleRate = errorAngle * pidProfile->A_level; AngleRate = errorAngle * pidProfile->A_level;
} else { } else {
//control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
AngleRate = (float)((rate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max yaw rate AngleRate = (float)((rate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max roll/pitch rate
if (FLIGHT_MODE(HORIZON_MODE)) { if (FLIGHT_MODE(HORIZON_MODE)) {
// mix up angle error to desired AngleRate to add a little auto-level feel // mix up angle error to desired AngleRate to add a little auto-level feel
AngleRate += errorAngle * pidProfile->H_level * horizonLevelStrength; AngleRate += errorAngle * pidProfile->H_level * horizonLevelStrength;