From a8186ec054f5f7180756d4f94cad18fc62c14d9a Mon Sep 17 00:00:00 2001 From: Mitch Lustig Date: Tue, 30 Aug 2022 00:20:01 -0700 Subject: [PATCH] Fix turntilt angle limit to be bi-directional --- applications/app_balance.c | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/applications/app_balance.c b/applications/app_balance.c index d0fbd131..0cfa8207 100644 --- a/applications/app_balance.c +++ b/applications/app_balance.c @@ -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){