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Merge pull request #521 from Mitchlol/balance_turntilt_bugfix 

Fix balance app turntilt angle limit to be bi-directional
This commit is contained in:
Benjamin Vedder 2022-09-03 09:24:19 +02:00 committed by GitHub
parent b4515a76bf a8186ec054
commit 0bd69045d1
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1 changed files with 5 additions and 1 deletions
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6
applications/app_balance.c
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@ -530,7 +530,11 @@ static void apply_turntilt(void){
}
// Limit angle to max angle
turntilt_target = fminf(turntilt_target, balance_conf.turntilt_angle_limit);
if(turntilt_target > 0){
turntilt_target = fminf(turntilt_target, balance_conf.turntilt_angle_limit);
}else{
turntilt_target = fmaxf(turntilt_target, -balance_conf.turntilt_angle_limit);
}
// Move towards target limited by max speed
if(fabsf(turntilt_target - turntilt_interpolated) < turntilt_step_size){