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slightly less filtering for less latency

This commit is contained in:
Jason Short 2012-01-21 22:04:54 -08:00
parent 275815a7c9
commit 02d6adb21f
1 changed files with 2 additions and 1 deletions
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ArduCopter/Attitude.pde
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@ -165,7 +165,8 @@ get_nav_throttle(int32_t z_error)
//output -= constrain(rate_d, -25, 25); //output -= constrain(rate_d, -25, 25);
// light filter of output // light filter of output
output = (old_output * 3 + output) / 4; //output = (old_output * 3 + output) / 4;
output = (old_output + output) / 2;
// save our output // save our output
old_output = output; old_output = output;