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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2424 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-27 23:35:08 +00:00
parent 4bce9465a6
commit 7b185ca23d
1 changed files with 5 additions and 4 deletions
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9
ArduCopterMega/Attitude.pde
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@ -136,11 +136,11 @@ void calc_nav_throttle()
} }
if(altitude_sensor == BARO){ if(altitude_sensor == BARO){
nav_throttle = g.pid_baro_throttle.get_pid(error, dTnav2, scaler); // .25 nav_throttle = g.pid_baro_throttle.get_pid(error, delta_ms_medium_loop, scaler); // .2
nav_throttle = g.throttle_cruise + constrain(nav_throttle, -35, 80); nav_throttle = g.throttle_cruise + constrain(nav_throttle, -35, 80);
}else{ }else{
nav_throttle = g.pid_sonar_throttle.get_pid(error, dTnav2, scaler); // .5 nav_throttle = g.pid_sonar_throttle.get_pid(error, delta_ms_medium_loop, scaler); // .5
nav_throttle = g.throttle_cruise + constrain(nav_throttle, -70, 150); nav_throttle = g.throttle_cruise + constrain(nav_throttle, -70, 100);
} }
// simple filtering // simple filtering
@ -215,11 +215,12 @@ output_yaw_with_hold(boolean hold)
// look to see if we have exited rate control properly - ie stopped turning // look to see if we have exited rate control properly - ie stopped turning
if(rate_yaw_flag){ if(rate_yaw_flag){
// we are still in motion from rate control // we are still in motion from rate control
if(fabs(omega.z) < .4){ if(fabs(omega.z) < .2){
clear_yaw_control(); clear_yaw_control();
hold = true; // just to be explicit hold = true; // just to be explicit
//Serial.print("C"); //Serial.print("C");
}else{ }else{
hold = false; // return to rate control until we slow down. hold = false; // return to rate control until we slow down.
//Serial.print("D"); //Serial.print("D");
} }