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Fix scaling on "turn coordination" yaw PID so that P gain values fall in "usual" range 0.1 to 10.

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This commit is contained in:
Doug Weibel 2011-12-24 14:23:07 -07:00
parent 3ac67284f7
commit 7879efb8ae
1 changed files with 1 additions and 1 deletions
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ArduPlane/Attitude.pde
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@ -173,7 +173,7 @@ static void calc_nav_yaw(float speed_scaler)
{
#if HIL_MODE != HIL_MODE_ATTITUDE
Vector3f temp = imu.get_accel();
long error = -temp.y;
long error = (long)(-temp.y*100.0);
// Control is a feedforward from the aileron control + a PID to coordinate the turn (drive y axis accel to zero)
g.channel_rudder.servo_out = g.kff_rudder_mix * g.channel_roll.servo_out + g.pidServoRudder.get_pid(error, delta_ms_fast_loop, speed_scaler);