From 09fa2608837dcc19f9c7e376b0317d792841c38f Mon Sep 17 00:00:00 2001 From: Jason Short Date: Tue, 1 Nov 2011 09:25:23 -0700 Subject: [PATCH] Tweaks to alt hold --- ArduCopter/Attitude.pde | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde index 772828c104..4bc8c1da3a 100644 --- a/ArduCopter/Attitude.pde +++ b/ArduCopter/Attitude.pde @@ -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 }