mirror of https://github.com/ArduPilot/ardupilot
Arducopter - Attitude.pde - fixed small bug in pitch stabilise
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@ -69,10 +69,7 @@ get_stabilize_pitch(int32_t target_angle)
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pitch_I = constrain(pitch_I, -120, 120); // +- 1200
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// conver to desired Rate:
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rate = g.pi_stabilize_roll.get_p(error + pitch_I);
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// convert to desired Rate:
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rate = g.pi_stabilize_pitch.get_p(error);
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rate = g.pi_stabilize_pitch.get_p(error + pitch_I);
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// experiment to pipe iterm directly into the output
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int16_t iterm = g.pi_stabilize_pitch.get_i(error, G_Dt);
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