diff options
| -rw-r--r-- | main.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
@@ -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; |