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Tweak to FBW min altitude

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Patch from Yury
This commit is contained in:
Doug Weibel 2011-12-31 15:44:40 -07:00
parent 24bddb1c47
commit 35fba5d4a3
2 changed files with 2 additions and 2 deletions
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2
ArduPlane/ArduPlane.pde
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@ -905,7 +905,7 @@ static void update_current_flight_mode(void)
nav_roll = g.channel_roll.norm_input() * g.roll_limit; nav_roll = g.channel_roll.norm_input() * g.roll_limit;
altitude_error = g.channel_pitch.norm_input() * g.pitch_limit_min; altitude_error = g.channel_pitch.norm_input() * g.pitch_limit_min;
if ((current_loc.alt>=home.alt+g.FBWB_min_altitude) || (g.FBWB_min_altitude == -1)) { if ((current_loc.alt>=home.alt+g.FBWB_min_altitude) || (g.FBWB_min_altitude == 0)) {
altitude_error = g.channel_pitch.norm_input() * g.pitch_limit_min; altitude_error = g.channel_pitch.norm_input() * g.pitch_limit_min;
} else { } else {
if (g.channel_pitch.norm_input()<0) if (g.channel_pitch.norm_input()<0)

2
ArduPlane/Parameters.h
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@ -85,7 +85,7 @@ public:
// //
k_param_flybywire_airspeed_min = 120, k_param_flybywire_airspeed_min = 120,
k_param_flybywire_airspeed_max, k_param_flybywire_airspeed_max,
k_param_FBWB_min_altitude, // -1=disabled, minimum value for altitude in cm (default 30m) k_param_FBWB_min_altitude, // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm)
// //
// 130: Sensor parameters // 130: Sensor parameters