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ACM : Alt hold adjustment - made angle boost work during alt hold changes.

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increased length of delay when reverting to automatic hold to deal with latency of baro sensor
This commit is contained in:
Jason Short 2012-08-18 09:30:46 -07:00
parent 1e546b54be
commit 123545f679
1 changed files with 10 additions and 4 deletions
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14
ArduCopter/ArduCopter.pde
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@ -1768,6 +1768,15 @@ void update_throttle_mode(void)
static float throttle_avg = 0; // this is initialised to g.throttle_cruise later
#endif
#if FRAME_CONFIG != HELI_FRAME
// calculate angle boost
if(throttle_mode == THROTTLE_MANUAL){
angle_boost = get_angle_boost(g.rc_3.control_in);
}else{
angle_boost = get_angle_boost(g.throttle_cruise);
}
#endif
switch(throttle_mode){
case THROTTLE_MANUAL:
if (g.rc_3.control_in > 0){
@ -1777,7 +1786,6 @@ void update_throttle_mode(void)
if (control_mode == ACRO){
g.rc_3.servo_out = g.rc_3.control_in;
}else{
angle_boost = get_angle_boost(g.rc_3.control_in);
g.rc_3.servo_out = g.rc_3.control_in + angle_boost;
}
#endif
@ -1813,7 +1821,7 @@ void update_throttle_mode(void)
case THROTTLE_HOLD:
// allow interactive changing of atitude
if(g.rc_3.control_in < 200){
reset_throttle_counter = 50;
reset_throttle_counter = 150;
nav_throttle = get_throttle_rate(-120);
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost;
break;
@ -1840,8 +1848,6 @@ void update_throttle_mode(void)
// else fall through
case THROTTLE_AUTO:
// calculate angle boost
angle_boost = get_angle_boost(g.throttle_cruise);
if(motors.auto_armed() == true){