mirror of https://github.com/ArduPilot/ardupilot
Attitude.pde: Turned off boost_p for nav_throttle based on Testing feedback from Marco.
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@ -278,7 +278,7 @@ get_nav_throttle(int32_t z_error)
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int16_t z_rate_error, z_target_speed, output;
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// a small boost for alt control to improve takeoff
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int16_t boost_p = constrain(z_error >> 1, -10, 50);
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//int16_t boost_p = constrain(z_error >> 1, -10, 50);
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// convert to desired Rate:
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z_target_speed = g.pi_alt_hold.get_p(z_error);
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@ -301,7 +301,7 @@ get_nav_throttle(int32_t z_error)
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output = constrain(g.pid_throttle.get_pid(z_rate_error, .02), -80, 120);
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// output control:
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return output + i_hold + boost_p;
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return output + i_hold; //+ boost_p;
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}
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// Keeps old data out of our calculation / logs
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