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Tweaks to alt hold

This commit is contained in:
Jason Short 2011-11-01 09:25:23 -07:00
parent 946db43cc1
commit 09fa260883
1 changed files with 5 additions and 2 deletions
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7
ArduCopter/Attitude.pde
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@ -83,7 +83,7 @@ get_stabilize_yaw(long target_angle)
return (int)constrain(rate, -2500, 2500);
}
#define ALT_ERROR_MAX 500
#define ALT_ERROR_MAX 300
static int
get_nav_throttle(long z_error)
{
@ -94,7 +94,7 @@ get_nav_throttle(long z_error)
rate_error = rate_error - altitude_rate;
// limit the rate
rate_error = constrain(rate_error, -120, 140);
rate_error = constrain(rate_error, -80, 140);
return (int)g.pi_throttle.get_pi(rate_error, .1);
}
@ -202,6 +202,9 @@ static int alt_hold_velocity()
//s: -13.1310, g:47.8700, e:1.0000, o:-158
#else
Vector3f accel_filt;
accel_filt = imu.get_accel_filtered();
accels_rot = dcm.get_dcm_matrix() * imu.get_accel_filtered();
return 0;
#endif
}