Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/navigation.pde
View File

@ -281,10 +281,10 @@ static int16_t get_desired_speed(int16_t max_speed, bool _slow)
static int16_t get_desired_climb_rate() static int16_t get_desired_climb_rate()
{ {
if(alt_change_flag == ASCENDING){ 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){ }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{ }else{
return 0; return 0;