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;