From 7c99f9db56a21947be2a4ed1270fbef585ea6da7 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Sat, 14 May 2016 08:17:14 +0200 Subject: [PATCH] rcCommand correctly scaled to dps --- src/main/flight/pid.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index 4dfd61418..b411695c8 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -122,7 +122,7 @@ Rate 20 means 200dps at full stick deflection */ float pidRcCommandToRate(int16_t stick, uint8_t rate) { - return scaleRangef((float) stick, (float) -500, (float) 500, (float) -rate, (float) rate); + return scaleRangef((float) stick, (float) -500, (float) 500, (float) -rate, (float) rate) * 10; } #define FP_PID_RATE_P_MULTIPLIER 40.0f // betaflight - 40.0 -- 2.11.4.GIT