Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-03 04:03:59 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: bug fix for alt_hold being passed as int16_t to get_throttle_althold_with_slew

Browse Source
This commit is contained in:
Randy Mackay 2013-03-30 09:07:18 +09:00
parent a2216f9d6b
commit 0c520f89d6
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/Attitude.pde
View File

@ -1053,7 +1053,7 @@ get_throttle_althold(int32_t target_alt, int16_t min_climb_rate, int16_t max_cli
// get_throttle_althold_with_slew - altitude controller with slew to avoid step changes in altitude target
// calls normal althold controller which updates accel based throttle controller targets
static void
get_throttle_althold_with_slew(int16_t target_alt, int16_t min_climb_rate, int16_t max_climb_rate)
get_throttle_althold_with_slew(int32_t target_alt, int16_t min_climb_rate, int16_t max_climb_rate)
{
// limit target altitude change
controller_desired_alt += constrain(target_alt-controller_desired_alt, min_climb_rate*0.02, max_climb_rate*0.02);