From 8c1867b1a6854a42585d37d7b63d2f3a077cebce Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Mon, 7 Feb 2011 06:19:01 +0000
Subject: [PATCH] trying to improve alt hold.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1608 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/flight_control.pde | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/ArduCopterMega/flight_control.pde b/ArduCopterMega/flight_control.pde
index 24c04648ee..037fdc7367 100644
--- a/ArduCopterMega/flight_control.pde
+++ b/ArduCopterMega/flight_control.pde
@@ -25,10 +25,14 @@ void calc_nav_throttle()
 	long error = constrain(altitude_error, -300, 300);
 	
 	if(altitude_sensor == BARO) {
+		if(error > 0){
+			pid_baro_throttle.kP(.25);
+		}else{
+			pid_baro_throttle.kP(.05);
+		}
 		nav_throttle = pid_baro_throttle.get_pid(error, delta_ms_fast_loop, 1.0);
-	
 		// limit output of throttle control
-		nav_throttle = throttle_cruise + constrain(nav_throttle, -50, 100);
+		nav_throttle = throttle_cruise + constrain(nav_throttle, -15, 70);
 
 	} else {
 		// SONAR