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ACM: Added constraints for invalid climb rates. Robert Lefebvre had a bad sonar and very invalid rates crept into the system.

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Jason Short 2012-03-13 21:31:16 -07:00
parent 50b4c07261
commit 59fb1f3542
1 changed files with 2 additions and 0 deletions
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ArduCopter/ArduCopter.pde
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@ -1924,6 +1924,7 @@ static void update_altitude()
// calc the vertical accel rate // calc the vertical accel rate
int temp = (baro_alt - old_baro_alt) * 10; int temp = (baro_alt - old_baro_alt) * 10;
baro_rate = (temp + baro_rate) >> 1; baro_rate = (temp + baro_rate) >> 1;
baro_rate = constrain(baro_rate, -300, 300);
old_baro_alt = baro_alt; old_baro_alt = baro_alt;
// Note: sonar_alt is calculated in a faster loop and filtered with a mode filter // Note: sonar_alt is calculated in a faster loop and filtered with a mode filter
@ -1942,6 +1943,7 @@ static void update_altitude()
// calc the vertical accel rate // calc the vertical accel rate
// positive = going up. // positive = going up.
sonar_rate = (sonar_alt - old_sonar_alt) * 10; sonar_rate = (sonar_alt - old_sonar_alt) * 10;
sonar_rate = constrain(sonar_rate, -150, 150);
old_sonar_alt = sonar_alt; old_sonar_alt = sonar_alt;
#endif #endif