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added loiter_d to allow users to configure alternate Loiter alg

This commit is contained in:
Jason Short 2012-01-22 14:19:21 -08:00
parent 74daadb252
commit 25529dec69
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/navigation.pde
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@ -146,10 +146,10 @@ static void calc_location_error(struct Location *next_loc)
static void calc_loiter1(int x_error, int y_error) static void calc_loiter1(int x_error, int y_error)
{ {
int16_t lon_PI = g.pi_loiter_lon.get_pi(x_error, dTnav); int16_t lon_PI = g.pi_loiter_lon.get_pi(x_error, dTnav);
int16_t lon_D = 3 * x_actual_speed ; // this controls the small bumps int16_t lon_D = g.loiter_d * x_actual_speed ; // this controls the small bumps
int16_t lat_PI = g.pi_loiter_lat.get_pi(y_error, dTnav); int16_t lat_PI = g.pi_loiter_lat.get_pi(y_error, dTnav);
int16_t lat_D = 3 * y_actual_speed ; int16_t lat_D = g.loiter_d * y_actual_speed ;
//limit of terms //limit of terms
lon_D = constrain(lon_D,-500,500); lon_D = constrain(lon_D,-500,500);