From fcb24ee17d8d36d6fb26c6c472b41aad0948ccc9 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Wed, 15 Feb 2012 09:07:19 -0800 Subject: [PATCH] Added Acro_P --- ArduCopter/Attitude.pde | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde index 674d78f655..c443cf9456 100644 --- a/ArduCopter/Attitude.pde +++ b/ArduCopter/Attitude.pde @@ -83,7 +83,7 @@ get_stabilize_yaw(int32_t target_angle) static int get_acro_roll(int32_t target_rate) { - target_rate = target_rate * g.pi_stabilize_roll.kP(); + target_rate = target_rate * g.acro_P; target_rate = constrain(target_rate, -10000, 10000); return get_rate_roll(target_rate); } @@ -91,7 +91,7 @@ get_acro_roll(int32_t target_rate) static int get_acro_pitch(int32_t target_rate) { - target_rate = target_rate * g.pi_stabilize_pitch.kP(); + target_rate = target_rate * g.acro_P; target_rate = constrain(target_rate, -10000, 10000); return get_rate_pitch(target_rate); }