3 files changed, 18 insertions, 7 deletions
diff --git a/workspace/TS100/src/Setup.c b/workspace/TS100/src/Setup.c
index 83a55491..f69a26e5 100644
--- a/workspace/TS100/src/Setup.c
+++ b/workspace/TS100/src/Setup.c
@@ -236,7 +236,7 @@ static void MX_TIM2_Init(void) {
 	htim2.Instance = TIM2;
 	htim2.Init.Prescaler = 2000; // pwm out is 10k, we want to run our PWM at around 100hz
 	htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
-	htim2.Init.Period = 120;
+	htim2.Init.Period = 122;
 	htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV4;    //4mhz before divide
 	htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
 	HAL_TIM_Base_Init(&htim2);
diff --git a/workspace/TS100/src/gui.cpp b/workspace/TS100/src/gui.cpp
index 2371774f..94d6def6 100644
--- a/workspace/TS100/src/gui.cpp
+++ b/workspace/TS100/src/gui.cpp
@@ -387,6 +387,19 @@ static void settings_displayScrollSpeed(void) {
 static void settings_setDisplayRotation(void) {
 	systemSettings.OrientationMode++;
 	systemSettings.OrientationMode = systemSettings.OrientationMode % 3;
+	switch (systemSettings.OrientationMode) {
+		case 0:
+			lcd.setRotation(false);
+			break;
+		case 1:
+			lcd.setRotation(true);
+			break;
+		case 2:
+			//do nothing on auto
+			break;
+		default:
+			break;
+		}
 }
 
 static void settings_displayDisplayRotation(void) {
diff --git a/workspace/TS100/src/main.cpp b/workspace/TS100/src/main.cpp
index 54a94a03..499e98bb 100644
--- a/workspace/TS100/src/main.cpp
+++ b/workspace/TS100/src/main.cpp
@@ -57,10 +57,8 @@ int main(void) {
 		PCBVersion = 2;
 		//Setup the ST Accelerometer
 		accel2.initalize();						   //startup the accelerometer
-	}
-	{
+	} else {
 		PCBVersion = 3;
-
 	}
 	HAL_IWDG_Refresh(&hiwdg);
 	restoreSettings();  // load the settings from flash
@@ -843,9 +841,9 @@ void startPIDTask(void const *argument) {
 	int32_t integralCount = 0;
 	int32_t derivativeLastValue = 0;
 	int32_t kp, ki, kd;
-	kp = 80;
-	ki = 120;
-	kd = 60;
+	kp = 30;
+	ki = 60;
+	kd = 20;
 	// REMEBER ^^^^ These constants are backwards
 	// They act as dividers, so to 'increase' a P term, you make the number
 	// smaller.