Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Arducopter: Removed Yaw Limit for Quads

This commit is contained in:
Jason Short 2012-07-14 14:06:34 -07:00
parent 44b16b7b61
commit 584e7dcda4
1 changed files with 0 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
ArduCopter/Attitude.pde
View File

@ -324,16 +324,7 @@ get_rate_yaw(int32_t target_rate)
d = g.pid_rate_yaw.get_d(rate_error, G_Dt); d = g.pid_rate_yaw.get_d(rate_error, G_Dt);
output = p+i+d; output = p+i+d;
#if FRAME_CONFIG == HELI_FRAME
output = constrain(output, -4500, 4500); output = constrain(output, -4500, 4500);
#else
// output control:
int16_t yaw_limit = 1900 + abs(g.rc_4.control_in);
// constrain output
output = constrain(output, -yaw_limit, yaw_limit);
#endif
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash