Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Altitude hold bug fix - changed g.throttle_cruise to be updated to steal I term from correct controller

This commit is contained in:
unknown 2011-11-06 17:47:24 +08:00
parent b30387bc5b
commit 0aac828eeb
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/ArduCopter.pde
View File

@ -1280,14 +1280,14 @@ adjust_altitude()
// we remove 0 to 100 PWM from hover
manual_boost = g.rc_3.control_in - 180;
manual_boost = max(-120, manual_boost);
g.throttle_cruise += g.pi_alt_hold.get_integrator();
g.throttle_cruise += g.pi_throttle.get_integrator();
g.pi_alt_hold.reset_I();
g.pi_throttle.reset_I();
}else if (g.rc_3.control_in >= 650){
// we add 0 to 100 PWM to hover
manual_boost = g.rc_3.control_in - 650;
g.throttle_cruise += g.pi_alt_hold.get_integrator();
g.throttle_cruise += g.pi_throttle.get_integrator();
g.pi_alt_hold.reset_I();
g.pi_throttle.reset_I();