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Arducopter: Adjusted speed of climb to not stall out before hitting peak

This commit is contained in:
Jason Short 2012-07-19 17:53:49 -07:00
parent ca470f8a53
commit 676f02da7c
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/navigation.pde
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@ -281,10 +281,10 @@ static int16_t get_desired_speed(int16_t max_speed, bool _slow)
static int16_t get_desired_climb_rate()
{
if(alt_change_flag == ASCENDING){
return constrain(altitude_error / 4, 65, 180); // 180cm /s up
return constrain(altitude_error / 4, 100, 180); // 180cm /s up, minimum is 100cm/s
}else if(alt_change_flag == DESCENDING){
return constrain(altitude_error / 6, -100, 0); // -100cm /s down
return constrain(altitude_error / 6, -100, -10); // -100cm /s down, max is -10cms
}else{
return 0;