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removed debugging code

This commit is contained in:
Jason Short 2011-11-08 14:41:46 -08:00
parent 0ca427bdd9
commit 79e30b5f21
1 changed files with 1 additions and 1 deletions
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ArduCopter/Attitude.pde
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@ -94,7 +94,7 @@ get_nav_throttle(int32_t z_error)
bool calc_i = (abs(z_error) < ALT_ERROR_MAX); bool calc_i = (abs(z_error) < ALT_ERROR_MAX);
// limit error to prevent I term run up // limit error to prevent I term run up
z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX); z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX);
int rate_error = g.pi_alt_hold.get_pi(z_error, .1, false); //_p = .85 int rate_error = g.pi_alt_hold.get_pi(z_error, .1, calc_i); //_p = .85
rate_error = rate_error - climb_rate; rate_error = rate_error - climb_rate;
// limit the rate // limit the rate