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eased up on the i term blocker

This commit is contained in:
Jason Short 2011-12-10 23:25:52 -08:00
parent 9e6cf529b9
commit 1f3abcf048
1 changed files with 8 additions and 7 deletions
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3
ArduCopter/Attitude.pde
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@ -121,7 +121,8 @@ get_nav_throttle(int32_t z_error)
{ {
int16_t rate_error; int16_t rate_error;
float dt = (abs(z_error) < 200) ? .1 : 0.0; float dt = (abs(z_error) < 400) ? .1 : 0.0;
//float dt = .1;
// limit error to prevent I term run up // limit error to prevent I term run up
z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX); z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX);