Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-12 10:58:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' of https://code.google.com/p/ardupilot-mega

Browse Source
This commit is contained in:
Chris Anderson 2012-01-13 10:47:55 -08:00
commit 340c7daa2e
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/Attitude.pde
View File

@ -187,7 +187,7 @@ get_nav_throttle(int32_t z_error)
output = constrain((int)g.pi_throttle.get_p(rate_error), -160, 180); output = constrain((int)g.pi_throttle.get_p(rate_error), -160, 180);
// a positive climb rate means we're going up // a positive climb rate means we're going up
rate_d = ((rate_d + climb_rate)>>1) * 1; // replace with gain rate_d = ((rate_d + climb_rate)>>1) * .1; // replace with gain
// slight adjustment to alt hold output // slight adjustment to alt hold output
output -= constrain(rate_d, -25, 25); output -= constrain(rate_d, -25, 25);