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was adding throttle cruise twice.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1527 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-01-23 02:08:46 +00:00
parent f7f0fdf945
commit 28ee251978
1 changed files with 2 additions and 1 deletions
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3
ArduCopterMega/flight_control.pde
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@ -28,6 +28,7 @@ void calc_nav_throttle()
// limit output of throttle control // limit output of throttle control
t_out = throttle_cruise + constrain(t_out, -50, 100); t_out = throttle_cruise + constrain(t_out, -50, 100);
} else { } else {
// SONAR // SONAR
t_out = pid_sonar_throttle.get_pid(altitude_error, delta_ms_fast_loop, 1.0); t_out = pid_sonar_throttle.get_pid(altitude_error, delta_ms_fast_loop, 1.0);
@ -36,7 +37,7 @@ void calc_nav_throttle()
t_out = throttle_cruise + constrain(t_out, -60, 100); t_out = throttle_cruise + constrain(t_out, -60, 100);
} }
nav_throttle = (float)(throttle_cruise + t_out) * angle_boost(); nav_throttle = (float)t_out * angle_boost();
} }
float angle_boost() float angle_boost()