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Small fix to angle boost - increases by about 20% to deal with inefficiencies of non-downward thrust

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Jason Short 2012-06-19 20:01:05 -07:00
parent d7fab41234
commit 0ccf5724aa
1 changed files with 1 additions and 7 deletions
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8
ArduCopter/Attitude.pde
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@ -434,15 +434,9 @@ get_nav_yaw_offset(int yaw_input, int reset)
static int16_t get_angle_boost(int16_t value)
{
// float temp = cos_pitch_x * cos_roll_x;
// temp = 1.0 - constrain(temp, .5, 1.0);
// int16_t output = temp * value;
// return constrain(output, 0, 200);
// return (int)(temp * value);
float temp = cos_pitch_x * cos_roll_x;
temp = constrain(temp, .5, 1.0);
return ((float)g.throttle_cruise / temp) - g.throttle_cruise;
return ((float)(g.throttle_cruise + 80) / temp) - (g.throttle_cruise + 80);
}
#if FRAME_CONFIG == HELI_FRAME