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Arducopter - Attitude.pde - fixed small bug in pitch stabilise

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Randy Mackay 2011-12-13 22:10:51 +09:00
parent aaa0214ded
commit 68d1fa6ec7
1 changed files with 1 additions and 4 deletions
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ArduCopter/Attitude.pde
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@ -69,10 +69,7 @@ get_stabilize_pitch(int32_t target_angle)
pitch_I = constrain(pitch_I, -120, 120); // +- 1200 pitch_I = constrain(pitch_I, -120, 120); // +- 1200
// conver to desired Rate: // conver to desired Rate:
rate = g.pi_stabilize_roll.get_p(error + pitch_I); rate = g.pi_stabilize_pitch.get_p(error + pitch_I);
// convert to desired Rate:
rate = g.pi_stabilize_pitch.get_p(error);
// experiment to pipe iterm directly into the output // experiment to pipe iterm directly into the output
int16_t iterm = g.pi_stabilize_pitch.get_i(error, G_Dt); int16_t iterm = g.pi_stabilize_pitch.get_i(error, G_Dt);