PT1 element and normalised acc/mag readings.

PT1 element and normalised acc/mag readings.
test flown with the unusual cleanflight defaults.
here i agree - i deleted one line too much.
Am 10.06.2014 00:02, schrieb luggi:
>
> In src/flight_common.c:
>
> > @@ -124,17 +129,19 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
> >          delta = gyroRate - lastGyroRate[axis];  // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
> >          lastGyroRate[axis] = gyroRate;
> >
> > -        // Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
> > -        // would be scaled by different dt each time. Division by dT fixes that.
> > -        delta *= (1.0f / dT);
>
> you clearly don't understand how a pid works ? or am i missing something ?
> the derivative term is time dependent...
>
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> <https://github.com/hydra/cleanflight/pull/19/files#r13567694>.
>