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Rev 1988 Rev 1991
Line 389... Line 389...
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    // TODO: From which planet comes the 16000?
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    // TODO: From which planet comes the 16000?
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    CHECK_MIN_MAX(IPart[axis], -(CONTROL_SCALING * 16000L), (CONTROL_SCALING * 16000L));
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    CHECK_MIN_MAX(IPart[axis], -(CONTROL_SCALING * 16000L), (CONTROL_SCALING * 16000L));
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    // Add (P, D) parts minus stick pos. to the scaled-down I part.
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    // Add (P, D) parts minus stick pos. to the scaled-down I part.
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    term[axis] = PDPart[axis] - controls[axis] + IPart[axis] / Ki; // PID-controller for pitch
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    term[axis] = PDPart[axis] - controls[axis] + IPart[axis] / Ki; // PID-controller for pitch
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        term[axis] += (dynamicParams.levelCorrection[axis] - 128);
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    /*
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    /*
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     * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!).
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     * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!).
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     * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity
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     * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity
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     * (max. pitch or roll term is the throttle value).
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     * (max. pitch or roll term is the throttle value).