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added error limit to alt hold

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1599 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-02-06 07:04:26 +00:00
parent d1e9d62072
commit 20a57b8932
1 changed files with 6 additions and 3 deletions
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9
ArduCopterMega/flight_control.pde
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@ -20,16 +20,19 @@ void output_auto_throttle()
}
void calc_nav_throttle()
{
{
// limit error
long error = constrain(altitude_error, -300, 300);
if(altitude_sensor == BARO) {
nav_throttle = pid_baro_throttle.get_pid(altitude_error, delta_ms_fast_loop, 1.0);
nav_throttle = pid_baro_throttle.get_pid(error, delta_ms_fast_loop, 1.0);
// limit output of throttle control
nav_throttle = throttle_cruise + constrain(nav_throttle, -50, 100);
} else {
// SONAR
nav_throttle = pid_sonar_throttle.get_pid(altitude_error, delta_ms_fast_loop, 1.0);
nav_throttle = pid_sonar_throttle.get_pid(error, delta_ms_fast_loop, 1.0);
// limit output of throttle control
nav_throttle = throttle_cruise + constrain(nav_throttle, -60, 100);