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@ -1129,7 +1129,7 @@ void Copter::convert_pid_parameters(void) |
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// and motor libraries switch to accept inputs in -1 to +1 range instead of -4500 ~ +4500
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// and motor libraries switch to accept inputs in -1 to +1 range instead of -4500 ~ +4500
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float pid_scaler = 1.27f; |
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float pid_scaler = 1.27f; |
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#if FRAME_CONFIG != HELI_FRAME |
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#if FRAME_CONFIG == QUAD_FRAME || FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME || FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME |
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// Multicopter x-frame gains are 40% lower because -1 or +1 input to motors now results in maximum rotation
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// Multicopter x-frame gains are 40% lower because -1 or +1 input to motors now results in maximum rotation
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if (g.frame_orientation == AP_MOTORS_X_FRAME || g.frame_orientation == AP_MOTORS_V_FRAME || g.frame_orientation == AP_MOTORS_H_FRAME) { |
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if (g.frame_orientation == AP_MOTORS_X_FRAME || g.frame_orientation == AP_MOTORS_V_FRAME || g.frame_orientation == AP_MOTORS_H_FRAME) { |
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pid_scaler = 0.9f; |
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pid_scaler = 0.9f; |
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