mirror of https://github.com/ArduPilot/ardupilot
Added in limit for alt hold to prevent I term run up.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2870 f9c3cf11-9bcb-44bc-f272-b75c42450872
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@ -21,7 +21,7 @@ void navigate()
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wp_distance = get_distance(¤t_loc, &next_WP);
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if (wp_distance < 0){
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gcs.send_text_P(SEVERITY_HIGH,PSTR("<navigate> WP error - distance < 0"));
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//gcs.send_text_P(SEVERITY_HIGH,PSTR("<navigate> WP error - distance < 0"));
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//Serial.println(wp_distance,DEC);
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//print_current_waypoints();
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return;
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@ -48,9 +48,13 @@ get_nav_throttle(long error)
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{
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int throttle;
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// limit error
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// limit error to 4 meters to prevent I term run up
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error = constrain(error, -400,400);
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throttle = g.pid_throttle.get_pid(error, delta_ms_medium_loop, 1.0);
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throttle = g.throttle_cruise + constrain(throttle, -80, 80);
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// failed experiment
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//int tem = alt_hold_velocity();
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//throttle -= tem;
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