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tuned down Alt hold D gain

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Jason Short 2012-01-13 09:36:36 -08:00
parent b52ad60864
commit 7c475f178c
1 changed files with 1 additions and 1 deletions
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ArduCopter/Attitude.pde
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@ -187,7 +187,7 @@ get_nav_throttle(int32_t z_error)
output = constrain((int)g.pi_throttle.get_p(rate_error), -160, 180);
// a positive climb rate means we're going up
rate_d = ((rate_d + climb_rate)>>1) * 1; // replace with gain
rate_d = ((rate_d + climb_rate)>>1) * .1; // replace with gain
// slight adjustment to alt hold output
output -= constrain(rate_d, -25, 25);