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Attitude.pde - Removed rate limit based on SIM flights. These should never have been in place and seriously detriment Acro flight.

This commit is contained in:
Jason Short 2012-05-21 09:58:07 -07:00
parent f274df454a
commit 1a5e2f4e37
1 changed files with 0 additions and 3 deletions
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ArduCopter/Attitude.pde
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@ -108,7 +108,6 @@ static int16_t
get_acro_roll(int32_t target_rate) get_acro_roll(int32_t target_rate)
{ {
target_rate = target_rate * g.acro_p; target_rate = target_rate * g.acro_p;
target_rate = constrain(target_rate, -10000, 10000);
return get_rate_roll(target_rate); return get_rate_roll(target_rate);
} }
@ -116,7 +115,6 @@ static int16_t
get_acro_pitch(int32_t target_rate) get_acro_pitch(int32_t target_rate)
{ {
target_rate = target_rate * g.acro_p; target_rate = target_rate * g.acro_p;
target_rate = constrain(target_rate, -10000, 10000);
return get_rate_pitch(target_rate); return get_rate_pitch(target_rate);
} }
@ -124,7 +122,6 @@ static int16_t
get_acro_yaw(int32_t target_rate) get_acro_yaw(int32_t target_rate)
{ {
target_rate = g.pi_stabilize_yaw.get_p(target_rate); target_rate = g.pi_stabilize_yaw.get_p(target_rate);
target_rate = constrain(target_rate, -15000, 15000);
return get_rate_yaw(target_rate); return get_rate_yaw(target_rate);
} }