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-rw-r--r--main.cpp4
1 files changed, 2 insertions, 2 deletions
diff --git a/main.cpp b/main.cpp
index 4d3240c..4fe3a60 100644
--- a/main.cpp
+++ b/main.cpp
@@ -169,8 +169,8 @@ class I2CThread : public BaseThread<I2CThread, 256> {
roll_angle_accum += roll_angle_error;
// 20 deg s max error.
- saturate(pitch_angle_error, 364088);
- saturate(roll_angle_error, 364088);
+ 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;