Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: remove constraint on rate yaw controller

This commit is contained in:
Randy Mackay 2013-07-05 14:18:58 -10:00
parent 40612ed551
commit 227185fd0f
1 changed files with 0 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ArduCopter/Attitude.pde
View File

@ -548,16 +548,8 @@ get_rate_yaw(int32_t target_rate)
}
#endif
#if FRAME_CONFIG == TRI_FRAME
// constrain output
return output;
#else // !TRI_FRAME
// output control:
int16_t yaw_limit = 2200 + abs(g.rc_4.control_in);
// smoother Yaw control:
return constrain_int32(output, -yaw_limit, yaw_limit);
#endif // TRI_FRAME
}
#endif // !HELI_FRAME