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lowered error limit to try and reduce RTL dropping from sky.

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removed minimum for RTL nav speed to see it's Loiter potential (rate based Loiter)

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3093 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-08-13 22:51:35 +00:00
parent 66af7cd216
commit 2bfaf2744f
1 changed files with 3 additions and 3 deletions
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6
ArduCopterMega/navigation.pde
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@ -48,8 +48,8 @@ get_nav_throttle(long error)
{ {
int throttle; int throttle;
// limit error to 4 meters to prevent I term run up // limit error to prevent I term run up
error = constrain(error, -800,800); error = constrain(error, -600,600);
throttle = g.pid_throttle.get_pid(error, delta_ms_medium_loop, 1.0); throttle = g.pid_throttle.get_pid(error, delta_ms_medium_loop, 1.0);
throttle = g.throttle_cruise + constrain(throttle, -80, 80); throttle = g.throttle_cruise + constrain(throttle, -80, 80);
@ -157,7 +157,7 @@ static void calc_rate_nav(int speed)
if(control_mode == RTL){ if(control_mode == RTL){
int tmp = min(wp_distance, 80) * 50; int tmp = min(wp_distance, 80) * 50;
waypoint_speed = min(tmp, speed); waypoint_speed = min(tmp, speed);
waypoint_speed = max(waypoint_speed, 50); //waypoint_speed = max(waypoint_speed, 50);
}else{ }else{
int tmp = min(wp_distance, 200) * 90; int tmp = min(wp_distance, 200) * 90;
waypoint_speed = min(tmp, speed); waypoint_speed = min(tmp, speed);