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