I am wondering why rate PID is computed like this in STABILIZE mode

*get_stabilize_roll(long target_angle)**{**...*

* // Rate P:** error = rate - (long)(degrees(omega.x) * 100.0);** rate = g.pi_rate_roll.get_pi(error, G_Dt);*

...

but like this in ACRO mode* *

*get_rate_roll(long target_rate)**{** long error;** target_rate = constrain(target_rate, -2500, 2500);** error = (target_rate * 4.5) - (long)(degrees(omega.x) * 100.0);*

*target_rate = g.pi_rate_roll.get_pi(error, G_Dt);*

...

Where does the 4.5 factor come from ?

## Replies

That's actually a stand-in for Stabilize_P. I don't fly Acro at all so please suggest a fix!

Thanks,

Jason