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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 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;