From 676f02da7c5b8163956c4c3b3525528a1cb92aca Mon Sep 17 00:00:00 2001 From: Jason Short Date: Thu, 19 Jul 2012 17:53:49 -0700 Subject: [PATCH] Arducopter: Adjusted speed of climb to not stall out before hitting peak --- ArduCopter/navigation.pde | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde index e35832e6a4..a5b315f4b0 100644 --- a/ArduCopter/navigation.pde +++ b/ArduCopter/navigation.pde @@ -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;