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ACM: The I term in update_nav_wp with the no_nav condition was pulling from the wrong PID loop and was essentially 0 all the time.

This commit is contained in:
Jason Short 2012-03-11 22:43:25 -07:00
parent 7cf635889d
commit 2ac29effe9
1 changed files with 2 additions and 2 deletions
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ArduCopter/ArduCopter.pde
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@ -2202,8 +2202,8 @@ static void update_nav_wp()
// or change Loiter position // or change Loiter position
// We bring copy over our Iterms for wind control, but we don't navigate // We bring copy over our Iterms for wind control, but we don't navigate
nav_lon = g.pi_loiter_lon.get_integrator(); nav_lon = g.pid_loiter_rate_lon.get_integrator();
nav_lat = g.pi_loiter_lat.get_integrator(); nav_lat = g.pid_loiter_rate_lon.get_integrator();
// rotate pitch and roll to the copter frame of reference // rotate pitch and roll to the copter frame of reference
calc_loiter_pitch_roll(); calc_loiter_pitch_roll();