From 84a329cca756058a757897078e1c5b5d714fcec3 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sun, 20 Oct 2024 10:32:35 +0300
Subject: [PATCH] More clean yaw error calculation

---
 flix/control.ino | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/flix/control.ino b/flix/control.ino
index ae60e4a..ef6eb8a 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -123,7 +123,8 @@ void controlAttitude() {
 	ratesTarget.y = pitchPID.update(error.y, dt);
 
 	if (yawMode == YAW) {
-		ratesTarget.z = yawPID.update(wrapAngle(attitudeTarget.getYaw() - attitude.getYaw()), dt);
+		float yawError = wrapAngle(attitudeTarget.getYaw() - attitude.getYaw());
+		ratesTarget.z = yawPID.update(yawError, dt);
 	}
 }