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ArduCopter: bug fix to accel based throttle controller (was using m/s instead of cm/s)

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This commit is contained in:
rmackay9 2012-12-22 14:21:25 +09:00
parent c2b01e0d63
commit 085425fdbf
1 changed files with 1 additions and 3 deletions
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4
ArduCopter/Attitude.pde
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@ -808,10 +808,8 @@ get_throttle_accel(int16_t z_target_accel)
int16_t output;
float z_accel_meas;
Vector3f accel = ins.get_accel();
// Calculate Earth Frame Z acceleration
z_accel_meas = ahrs.get_accel_ef().z;
z_accel_meas = (ahrs.get_accel_ef().z - gravity) * 100;
// calculate accel error and Filter with fc = 2 Hz
z_accel_error = z_accel_error + 0.11164 * (constrain(z_target_accel + z_accel_meas, -32000, 32000) - z_accel_error);