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Hack to prevent fly aways 

Cleanup to remove SIMPLE mode switch note
This commit is contained in:
Jason Short 2011-12-11 12:01:06 -08:00
parent c01361a79d
commit 4efbae4a1c
2 changed files with 2 additions and 5 deletions
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4
ArduCopter/Attitude.pde
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@ -121,8 +121,8 @@ get_nav_throttle(int32_t z_error)
{
int16_t rate_error;
float dt = (abs(z_error) < 400) ? .1 : 0.0;
//float dt = .1;
// XXX HACK, need a better way not to ramp this i term in large altitude changes.
float dt = (abs(z_error) < 400) ? .1 : 0.01;
// limit error to prevent I term run up
z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX);

3
ArduCopter/control_modes.pde
View File

@ -51,9 +51,6 @@ static void read_trim_switch()
do_flip = true;
}
#elif CH7_OPTION == CH7_SIMPLE_MODE
//Serial.println(g.rc_7.control_in, DEC);
#elif CH7_OPTION == CH7_SET_HOVER
// switch is engaged
if (g.rc_7.control_in > 800){