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increased the rate error for more responsive alt hold

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Jason Short 2012-02-25 13:22:15 -08:00
parent a924c3685e
commit 1ce267f904
1 changed files with 1 additions and 1 deletions
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ArduCopter/Attitude.pde
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@ -203,7 +203,7 @@ get_nav_throttle(int32_t z_error)
// convert to desired Rate: // convert to desired Rate:
rate_error = g.pi_alt_hold.get_p(z_error); rate_error = g.pi_alt_hold.get_p(z_error);
rate_error = constrain(rate_error, -100, 100); rate_error = constrain(rate_error, -150, 150);
// limit error to prevent I term wind up // limit error to prevent I term wind up
z_error = constrain(z_error, -400, 400); z_error = constrain(z_error, -400, 400);