Lower angle error proportional gain.

1 files changed, 2 insertions, 2 deletions

diff --git a/main.cpp b/main.cpp
index 4fe3a60..340817c 100644
--- a/main.cpp
+++ b/main.cpp
@@ -172,8 +172,8 @@ class I2CThread : public BaseThread<I2CThread, 256> {
 				saturate(pitch_angle_accum, 364088);
 				saturate(roll_angle_accum, 364088);
 				
-				int32_t pitch_rate_target = (pitch_angle_error * 4 * 65536 + pitch_angle_accum * 98) >> 16;
-				int32_t roll_rate_target = (roll_angle_error * 4 * 65536 + roll_angle_accum * 98) >> 16;
+				int32_t pitch_rate_target = (pitch_angle_error * 2 * 65536 + pitch_angle_accum * 98) >> 16;
+				int32_t roll_rate_target = (roll_angle_error * 2 * 65536 + roll_angle_accum * 98) >> 16;
 				
 				int16_t pitch_rate_comp = ((pitch_rate_target - (gyro.x * 4000 / 360)) * 6 * 36) >> 16;
 				int16_t roll_rate_comp = ((roll_rate_target - (gyro.y * 4000 / 360)) * 6 * 36) >> 16;