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Fixed alt hold

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1631 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-02-11 22:14:06 +00:00
parent 4ea9192ab8
commit 6728355889
1 changed files with 1 additions and 0 deletions
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1
ArduCopterMega/flight_control.pde
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@ -33,6 +33,7 @@ void calc_nav_throttle()
pid_baro_throttle.kP(t/4.0); pid_baro_throttle.kP(t/4.0);
} }
// limit output of throttle control // limit output of throttle control
nav_throttle = pid_baro_throttle.get_pid(error, delta_ms_fast_loop, 1.0);
nav_throttle = throttle_cruise + constrain(nav_throttle, -20, 70); nav_throttle = throttle_cruise + constrain(nav_throttle, -20, 70);
pid_baro_throttle.kP(t); pid_baro_throttle.kP(t);