From 9c70eb0b63e1079f1fd0fcf8714cbd2fd138baed Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Fri, 2 Oct 2015 16:25:14 +0200
Subject: [PATCH] reduce wheel control speed scaling

---
 src/lib/ecl/attitude_fw/ecl_wheel_controller.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/lib/ecl/attitude_fw/ecl_wheel_controller.cpp b/src/lib/ecl/attitude_fw/ecl_wheel_controller.cpp
index 12d2668f87..d67a46bb1c 100644
--- a/src/lib/ecl/attitude_fw/ecl_wheel_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_wheel_controller.cpp
@@ -85,7 +85,8 @@ float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_da
         speed = ctl_data.ground_speed;
     }
 
-    float scaler = 1.0f / speed;
+    /* only scale a certain amount with speed else the corrections get to small */
+    float scaler = 0.7f + 0.3f / speed;
 
     /* Calculate body angular rate error */
     _rate_error = _rate_setpoint - ctl_data.yaw_rate; //body angular rate error