Increase Yaw rate offset rewrite to be closer to roll/pitch
This commit is contained in:
parent
4c1b4a63be
commit
f2cb5369c8
|
@ -439,7 +439,7 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
|
|||
// -----Get the desired angle rate depending on flight mode
|
||||
if (axis == FD_YAW) {
|
||||
// YAW is always gyro-controlled (MAG correction is applied to rcCommand)
|
||||
AngleRateTmp = ((int32_t)(rate + 27) * rcCommand[YAW]) >> 5;
|
||||
AngleRateTmp = ((int32_t)(rate + 47) * rcCommand[YAW]) >> 5;
|
||||
} else {
|
||||
AngleRateTmp = ((int32_t)(rate + 27) * rcCommand[axis]) >> 4;
|
||||
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
|
||||
|
|
Loading…
Reference in New Issue