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ACM : Nav rate limit lowered to prevent bad oscillations due to GPS latency.

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Jason Short 2012-08-18 00:02:30 -07:00
parent 522fa58ea5
commit 77f47a45d0
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/navigation.pde
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@ -202,7 +202,7 @@ static void calc_nav_rate(int16_t max_speed)
x_rate_error = x_target_speed - x_actual_speed; x_rate_error = x_target_speed - x_actual_speed;
#endif #endif
x_rate_error = constrain(x_rate_error, -1000, 1000); x_rate_error = constrain(x_rate_error, -500, 500);
nav_lon = g.pid_nav_lon.get_pid(x_rate_error, dTnav); nav_lon = g.pid_nav_lon.get_pid(x_rate_error, dTnav);
int32_t tilt = (x_target_speed * x_target_speed * (int32_t)g.tilt_comp) / 10000; int32_t tilt = (x_target_speed * x_target_speed * (int32_t)g.tilt_comp) / 10000;
@ -219,7 +219,7 @@ static void calc_nav_rate(int16_t max_speed)
y_rate_error = y_target_speed - y_actual_speed; y_rate_error = y_target_speed - y_actual_speed;
#endif #endif
y_rate_error = constrain(y_rate_error, -1000, 1000); // added a rate error limit to keep pitching down to a minimum y_rate_error = constrain(y_rate_error, -500, 500); // added a rate error limit to keep pitching down to a minimum
nav_lat = g.pid_nav_lat.get_pid(y_rate_error, dTnav); nav_lat = g.pid_nav_lat.get_pid(y_rate_error, dTnav);
tilt = (y_target_speed * y_target_speed * (int32_t)g.tilt_comp) / 10000; tilt = (y_target_speed * y_target_speed * (int32_t)g.tilt_comp) / 10000;