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Attitude.pde: Turned off boost_p for nav_throttle based on Testing feedback from Marco.

This commit is contained in:
Jason Short 2012-06-26 10:39:42 -07:00
parent 3fcd3100cc
commit 57e4fabb57
1 changed files with 2 additions and 2 deletions
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ArduCopter/Attitude.pde
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@ -278,7 +278,7 @@ get_nav_throttle(int32_t z_error)
int16_t z_rate_error, z_target_speed, output; int16_t z_rate_error, z_target_speed, output;
// a small boost for alt control to improve takeoff // 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: // convert to desired Rate:
z_target_speed = g.pi_alt_hold.get_p(z_error); 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 = constrain(g.pid_throttle.get_pid(z_rate_error, .02), -80, 120);
// output control: // output control:
return output + i_hold + boost_p; return output + i_hold; //+ boost_p;
} }
// Keeps old data out of our calculation / logs // Keeps old data out of our calculation / logs