Making angle mode more responsive (#689)

* make angle feel more responsive * Update pid.c Co-authored-by: ctzsnooze <[email protected]>
emuflight · Aug 23, 2021 · 3bcb359 · 3bcb359
1 parent b0a671d
commit 3bcb359
Showing 1 changed file with 5 additions and 12 deletions.
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
@@ -486,28 +486,21 @@ static float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPit
     // calculate error angle and limit the angle to the max inclination
     // rcDeflection is in range [-1.0, 1.0]
     static float attitudePrevious[2], previousAngle[2];
-    float p_term_low, p_term_high, d_term_low, d_term_high, f_term_low, currentAngle, scaledRcDeflection, scaledAngle = 0.0f;
+    float p_term_low, p_term_high, d_term_low, d_term_high, f_term_low, currentAngle, angle, scaledAngle = 0.0f;
 
-    if (getRcDeflection(axis) != 0) {
-        scaledRcDeflection = getRcDeflectionAbs(axis) / (getRcDeflectionAbs(FD_PITCH) + getRcDeflectionAbs(FD_ROLL));
-    } else {
-        scaledRcDeflection = 0.0f;
-    }
-
-    float angle;
     if (!FLIGHT_MODE(HORIZON_MODE)) {
       if (pidProfile->angleExpo > 0) {
           const float expof = pidProfile->angleExpo / 100.0f;
-          angle = pidProfile->levelAngleLimit * scaledRcDeflection * (getRcDeflection(axis) * power3(getRcDeflectionAbs(axis)) * expof + getRcDeflection(axis) * (1 - expof));
+          angle = pidProfile->levelAngleLimit * (getRcDeflection(axis) * power3(getRcDeflectionAbs(axis)) * expof + getRcDeflection(axis) * (1 - expof));
       } else {
-          angle = pidProfile->levelAngleLimit * scaledRcDeflection * getRcDeflection(axis);
+          angle = pidProfile->levelAngleLimit * getRcDeflection(axis);
       }
     } else {
       if (pidProfile->angleExpo > 0) {
           const float expof = pidProfile->angleExpo / 100.0f;
-          angle = horizonCutoffDegrees * scaledRcDeflection * (getRcDeflection(axis) * power3(getRcDeflectionAbs(axis)) * expof + getRcDeflection(axis) * (1 - expof));
+          angle = horizonCutoffDegrees * (getRcDeflection(axis) * power3(getRcDeflectionAbs(axis)) * expof + getRcDeflection(axis) * (1 - expof));
       } else {
-          angle = horizonCutoffDegrees * scaledRcDeflection * getRcDeflection(axis);
+          angle = horizonCutoffDegrees * getRcDeflection(axis);
       }
     }
 #ifdef USE_GPS_RESCUE