Possible Bug?

[mgros]

In the new IMU.cpp in MultiWii_Shared i think there is a bug in line 286

line says:

Code: Select all

    cosZ = EstG.V.Z / ACC_1G * 100.0f; 

Should not it be?:

Code: Select all

    cosZ = EstG16.V.Z / ACC_1G * 100.0f;

Only fails compilling with

Code: Select all

 #define THROTTLE_ANGLE_CORRECTION

Hope help you.

[mgros]

ATTENTION, do not compile with

Code: Select all

 #define THROTTLE_ANGLE_CORRECTION

option , malfunction in the speed of the motors.

[Alexinparis]

Hi,
Good catch, just fixed.
EstG16.V.Z / ACC_1G * 100.0f; => you need to isolate (ACC_1G * 100.0f) otherwise EstG16.V.Z / ACC_1G is evaluated first and is mostly 0.

[mgros]

Thanks Alex!

[mgros]

i have added parenthesis and the motor problem still exist

Compiling with THROTTLE_ANGLE_CORRECTION results OK, but the power in motors jumps from idle to near max moving the throttle stick (not lineal).

Probably the 40 value should be reduced.