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ACM: removed the experiment for rate error.

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Jason Short 2012-03-10 12:38:29 -08:00
parent 0ccfdc664d
commit 285f2dd791
1 changed files with 2 additions and 2 deletions
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ArduCopter/Attitude.pde
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@ -204,8 +204,8 @@ get_nav_throttle(int32_t z_error)
rate_error = rate_error - climb_rate; rate_error = rate_error - climb_rate;
// hack to see if we can smooth out oscillations // hack to see if we can smooth out oscillations
if(rate_error < 0) //if(rate_error < 0)
rate_error = rate_error >> 1; // rate_error = rate_error >> 1;
// limit the rate // limit the rate
output = constrain(g.pid_throttle.get_pid(rate_error, .02), -80, 120); output = constrain(g.pid_throttle.get_pid(rate_error, .02), -80, 120);