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added param for crosstrack gain defaulted to 4

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Jason Short 2011-11-19 13:59:37 -08:00
parent 9bc4328724
commit 39d0df4cef
1 changed files with 1 additions and 1 deletions
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ArduCopter/navigation.pde
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@ -215,7 +215,7 @@ static void update_crosstrack(void)
//radians((target_bearing - original_target_bearing) / 100)
crosstrack_error = sin(temp) * wp_distance; // Meters we are off track line
crosstrack_error = constrain(crosstrack_error * 4, -1200, 1200);
crosstrack_error = constrain(crosstrack_error * g.crosstrack_gain, -1200, 1200);
}
}