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Copter: ACRO bug fix from Jason

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Randy Mackay 2013-04-01 11:41:52 +09:00
parent 3633ccb5bd
commit 0015747af9
1 changed files with 1 additions and 1 deletions
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ArduCopter/Attitude.pde
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@ -129,7 +129,7 @@ get_roll_rate_stabilized_ef(int32_t stick_angle)
roll_axis = wrap_180(roll_axis); roll_axis = wrap_180(roll_axis);
// ensure that we don't reach gimbal lock // ensure that we don't reach gimbal lock
if (labs(roll_axis > 4500) && g.acro_trainer_enabled) { if (labs(roll_axis) > 4500 && g.acro_trainer_enabled) {
roll_axis = constrain(roll_axis, -4500, 4500); roll_axis = constrain(roll_axis, -4500, 4500);
angle_error = wrap_180(roll_axis - ahrs.roll_sensor); angle_error = wrap_180(roll_axis - ahrs.roll_sensor);
} else { } else {