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AC_PosControl: fix relax_alt_hold_controllers

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Leonard Hall 2016-07-12 11:26:10 +09:00 committed by Randy Mackay
parent 24044e5611
commit 34055944cd
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -243,7 +243,7 @@ void AC_PosControl::relax_alt_hold_controllers(float throttle_setting)
_accel_last_z_cms = 0.0f; _accel_last_z_cms = 0.0f;
_accel_target.z = -(_ahrs.get_accel_ef_blended().z + GRAVITY_MSS) * 100.0f; _accel_target.z = -(_ahrs.get_accel_ef_blended().z + GRAVITY_MSS) * 100.0f;
_flags.reset_accel_to_throttle = true; _flags.reset_accel_to_throttle = true;
_pid_accel_z.set_integrator(throttle_setting*1000.0f); _pid_accel_z.set_integrator((throttle_setting-_motors.get_throttle_hover())*1000.0f);
} }
// get_alt_error - returns altitude error in cm // get_alt_error - returns altitude error in cm