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Comment update

master
Pawel Spychalski (DzikuVx) 3 years ago
parent
commit
b4ea58ae61
  1. 3
      src/main/flight/pid.c

3
src/main/flight/pid.c

@ -1135,7 +1135,10 @@ void FAST_CODE pidController(float dT)
levelingEnabled = false;
for (uint8_t axis = FD_ROLL; axis <= FD_PITCH; axis++) {
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE) || isFlightAxisAngleOverrideActive(axis)) {
//If axis angle override, get the correct angle from Logic Conditions
float angleTarget = getFlightAxisAngleOverride(axis, computePidLevelTarget(axis));
//Apply the Level PID controller
pidLevel(angleTarget, &pidState[axis], axis, horizonRateMagnitude, dT);
canUseFpvCameraMix = false; // FPVANGLEMIX is incompatible with ANGLE/HORIZON
levelingEnabled = true;

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