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Copter: angle limiter fix for max lean angle

This commit is contained in:
Randy Mackay 2013-08-11 14:54:50 +09:00
parent 6969ab573d
commit 34b11f7be0
1 changed files with 4 additions and 4 deletions
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8
ArduCopter/Attitude.pde
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@ -303,8 +303,8 @@ get_roll_rate_stabilized_ef(int32_t stick_angle)
acro_roll = wrap_180_cd(acro_roll);
// ensure that we don't reach gimbal lock
if (labs(acro_roll) > 4500 && g.acro_trainer == ACRO_TRAINER_LIMITED) {
acro_roll = constrain_int32(acro_roll, -4500, 4500);
if (labs(acro_roll) > g.angle_max && g.acro_trainer == ACRO_TRAINER_LIMITED) {
acro_roll = constrain_int32(acro_roll, -g.angle_max, g.angle_max);
angle_error = wrap_180_cd(acro_roll - ahrs.roll_sensor);
} else {
// angle error with maximum of +- max_angle_overshoot
@ -344,8 +344,8 @@ get_pitch_rate_stabilized_ef(int32_t stick_angle)
acro_pitch = wrap_180_cd(acro_pitch);
// ensure that we don't reach gimbal lock
if (labs(acro_pitch) > 4500) {
acro_pitch = constrain_int32(acro_pitch, -4500, 4500);
if (labs(acro_pitch) > g.angle_max) {
acro_pitch = constrain_int32(acro_pitch, -g.angle_max, g.angle_max);
angle_error = wrap_180_cd(acro_pitch - ahrs.pitch_sensor);
} else {
// angle error with maximum of +- max_angle_overshoot