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Alt hold fix

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This commit is contained in:
Jason Short 2011-11-07 12:00:37 -08:00
parent c7ac328613
commit 0446cae242
1 changed files with 1 additions and 3 deletions
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ArduCopter/Attitude.pde
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@ -94,12 +94,10 @@ get_nav_throttle(long z_error)
// limit error to prevent I term run up
z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX);
int rate_error = g.pi_alt_hold.get_pi(z_error, .1); //_p = .85
rate_error = rate_error - climb_rate;
// limit the rate
rate_error = constrain(rate_error, -80, 140);
return (int)g.pi_throttle.get_pi(rate_error, .1);
return constrain((int)g.pi_throttle.get_pi(rate_error, .1), -120, 180);
}
static int