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Copter: fix to acro trainer leveling mode

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Bill Geyer 2019-03-11 12:15:25 -04:00 committed by Randy Mackay
parent 47827f432d
commit fd1da47bc3
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/mode_acro.cpp
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@ -138,7 +138,7 @@ void Copter::ModeAcro::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pi
rate_bf_request.y += rate_bf_level.y;
rate_bf_request.z += rate_bf_level.z;
}else{
float acro_level_mix = constrain_float(float(1-MAX(MAX(abs(roll_in), abs(pitch_in)), abs(yaw_in)))/4500.0, 0, 1)*ahrs.cos_pitch();
float acro_level_mix = constrain_float(1-float(MAX(MAX(abs(roll_in), abs(pitch_in)), abs(yaw_in))/4500.0), 0, 1)*ahrs.cos_pitch();
// Scale leveling rates by stick input
rate_bf_level = rate_bf_level*acro_level_mix;