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More power to descend

This commit is contained in:
Jason Short 2011-12-15 16:09:44 -08:00
parent f3bbe5e2a6
commit 05e921f5d0
1 changed files with 2 additions and 2 deletions
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ArduCopter/Attitude.pde
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@ -121,7 +121,7 @@ get_stabilize_yaw(int32_t target_angle)
return (int)rate + iterm; return (int)rate + iterm;
} }
#define ALT_ERROR_MAX 300 #define ALT_ERROR_MAX 400
static int16_t static int16_t
get_nav_throttle(int32_t z_error) get_nav_throttle(int32_t z_error)
{ {
@ -143,7 +143,7 @@ get_nav_throttle(int32_t z_error)
rate_error = rate_error - climb_rate; rate_error = rate_error - climb_rate;
// limit the rate // limit the rate
rate_error = constrain((int)g.pi_throttle.get_pi(rate_error, .1), -120, 180); rate_error = constrain((int)g.pi_throttle.get_pi(rate_error, .1), -160, 180);
// output control: // output control:
return rate_error + iterm; return rate_error + iterm;