WIP

rotorflight · Jul 25, 2024 · 8e7f27d · 8e7f27d
1 parent 7e973c2
commit 8e7f27d
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
@@ -233,12 +233,12 @@ void INIT_CODE pidInitProfile(const pidProfile_t *pidProfile)
     pid.precomp.pitchCollectiveFFGain = pidProfile->pitch_collective_ff_gain / 500.0f;
 
     // Cross-coupling compensation
-    pid.cyclicCrossCouplingGain[FD_PITCH] = pidProfile->cyclic_cross_coupling_gain * mixerRotationSign() * -CROSS_COUPLING_SCALE;
+    pid.cyclicCrossCouplingGain[FD_PITCH] = pidProfile->cyclic_cross_coupling_gain * mixerRotationSign() * -CROSS_COUPLING_SCALE * 10.0f;
     pid.cyclicCrossCouplingGain[FD_ROLL]  = pid.cyclicCrossCouplingGain[FD_PITCH] * pidProfile->cyclic_cross_coupling_ratio / -100.0f;
 
     // Cross-coupling derivative filters
-    difFilterInit(&pid.crossCouplingFilter[FD_PITCH], pidProfile->cyclic_cross_coupling_cutoff, pid.freq);
-    difFilterInit(&pid.crossCouplingFilter[FD_ROLL], pidProfile->cyclic_cross_coupling_cutoff, pid.freq);
+    difFilterInit(&pid.crossCouplingFilter[FD_PITCH], pidProfile->cyclic_cross_coupling_cutoff * 0.1f, pid.freq);
+    difFilterInit(&pid.crossCouplingFilter[FD_ROLL], pidProfile->cyclic_cross_coupling_cutoff * 0.1f, pid.freq);
 
     // Initialise sub-profiles
     governorInitProfile(pidProfile);