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Revert "test to switch loiter controls" 

This reverts commit 92270371d038f246d535f0ace9fc19272c44291d.
This commit is contained in:
Jason Short 2012-01-22 12:37:32 -08:00
parent 9c1e257826
commit 74daadb252
2 changed files with 5 additions and 5 deletions
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2
ArduCopter/config.h
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@ -628,7 +628,7 @@
# define LOITER_IMAX 30 // degrees°
#endif
#ifndef LOITER_D
# define LOITER_D 3 // rate control
# define LOITER_D 2.2 // rate control
#endif
//////////////////////////////////////////////////////////////////////////////

8
ArduCopter/navigation.pde
View File

@ -143,13 +143,13 @@ static void calc_location_error(struct Location *next_loc)
*/
#define NAV_ERR_MAX 800
static void calc_loiter(int x_error, int y_error)
static void calc_loiter1(int x_error, int y_error)
{
int16_t lon_PI = g.pi_loiter_lon.get_pi(x_error, dTnav);
int16_t lon_D = g.loiter_d * x_actual_speed ; // this controls the small bumps
int16_t lon_D = 3 * x_actual_speed ; // this controls the small bumps
int16_t lat_PI = g.pi_loiter_lat.get_pi(y_error, dTnav);
int16_t lat_D = g.loiter_d * y_actual_speed ;
int16_t lat_D = 3 * y_actual_speed ;
//limit of terms
lon_D = constrain(lon_D,-500,500);
@ -160,7 +160,7 @@ static void calc_loiter(int x_error, int y_error)
}
static void calc_loiter1(int x_error, int y_error)
static void calc_loiter(int x_error, int y_error)
{
// East/West
x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX); //800