From c40312d0f970804d0f4190853742a4fa9dcf6863 Mon Sep 17 00:00:00 2001 From: Bill Geyer Date: Mon, 11 Mar 2019 12:15:25 -0400 Subject: [PATCH] Copter: fix to acro trainer leveling mode --- ArduCopter/mode_acro.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/mode_acro.cpp b/ArduCopter/mode_acro.cpp index 27ca8a2bea..3f74661143 100644 --- a/ArduCopter/mode_acro.cpp +++ b/ArduCopter/mode_acro.cpp @@ -137,7 +137,7 @@ 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;