From 57e4fabb57151a0de32085e99becc8fdd3699b66 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Tue, 26 Jun 2012 10:39:42 -0700 Subject: [PATCH] Attitude.pde: Turned off boost_p for nav_throttle based on Testing feedback from Marco. --- ArduCopter/Attitude.pde | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde index 303c9aab5d..96091a5f24 100644 --- a/ArduCopter/Attitude.pde +++ b/ArduCopter/Attitude.pde @@ -278,7 +278,7 @@ get_nav_throttle(int32_t z_error) int16_t z_rate_error, z_target_speed, output; // a small boost for alt control to improve takeoff - int16_t boost_p = constrain(z_error >> 1, -10, 50); + //int16_t boost_p = constrain(z_error >> 1, -10, 50); // convert to desired Rate: z_target_speed = g.pi_alt_hold.get_p(z_error); @@ -301,7 +301,7 @@ get_nav_throttle(int32_t z_error) output = constrain(g.pid_throttle.get_pid(z_rate_error, .02), -80, 120); // output control: - return output + i_hold + boost_p; + return output + i_hold; //+ boost_p; } // Keeps old data out of our calculation / logs