From 09c4bbe46eac0aaf8b49bbc32a7249a4b9f4605b Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Fri, 13 Jan 2012 08:49:55 -0800
Subject: [PATCH] Added simple constrain for Alt d term

---
 ArduCopter/Attitude.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index f4cc3b9ab5..38ae8970b1 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -190,7 +190,7 @@ get_nav_throttle(int32_t z_error)
 	rate_d =  ((rate_d + climb_rate)>>1) * 1; // replace with gain
 
 	// slight adjustment to alt hold output
-	output -= rate_d;
+	output -= constrain(rate_d, -25, 25);
 
 	// light filter of output
 	output = (old_output * 3 + output) / 4;