From 54ac7da2e8ea44438a40259721193c8a330f2218 Mon Sep 17 00:00:00 2001 From: Cliff Geerdes Date: Thu, 2 Jan 2014 00:56:55 -0500 Subject: [PATCH] OP-1117 bugfix for refactoring, would keep Ki from working at full stick --- flight/modules/Stabilization/stabilization.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/modules/Stabilization/stabilization.c b/flight/modules/Stabilization/stabilization.c index f199d70d0..2f80d50f1 100644 --- a/flight/modules/Stabilization/stabilization.c +++ b/flight/modules/Stabilization/stabilization.c @@ -460,7 +460,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters) // At magnitudes close to zero, the Rate accumulator gets zeroed if (pids[PID_RATE_ROLL+i].i > 0.0f) { - factor = 1.0f - powf(magnitude, 37.8387f - (37.8387f/255.0f) * rattitude_anti_windup + factor = 1.0f - powf(1.0f-magnitude, 37.8387f - (37.8387f/255.0f) * rattitude_anti_windup - 17.668f - stab_log2f(dT * pids[PID_RATE_ROLL+i].i)); pids[PID_RATE_ROLL+i].iAccumulator *= factor; }