mirror of https://github.com/ArduPilot/ardupilot
removed debugging code
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0ca427bdd9
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@ -94,7 +94,7 @@ get_nav_throttle(int32_t z_error)
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bool calc_i = (abs(z_error) < ALT_ERROR_MAX);
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bool calc_i = (abs(z_error) < ALT_ERROR_MAX);
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// limit error to prevent I term run up
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// limit error to prevent I term run up
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z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX);
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z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX);
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int rate_error = g.pi_alt_hold.get_pi(z_error, .1, false); //_p = .85
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int rate_error = g.pi_alt_hold.get_pi(z_error, .1, calc_i); //_p = .85
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rate_error = rate_error - climb_rate;
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rate_error = rate_error - climb_rate;
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// limit the rate
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// limit the rate
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