diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde index 5243afbbe8..f80acbbd4b 100644 --- a/ArduCopter/navigation.pde +++ b/ArduCopter/navigation.pde @@ -103,7 +103,7 @@ static void calc_loiter(int x_error, int y_error) { // East/West int16_t x_target_speed = g.pi_loiter_lon.get_p(x_error); - x_target_speed = constrain(x_error, -150, 150); + x_target_speed = constrain(x_error, -250, 250); // limit windup x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX); int16_t x_iterm = g.pi_loiter_lon.get_i(x_error, dTnav); @@ -111,7 +111,7 @@ static void calc_loiter(int x_error, int y_error) // North/South int16_t y_target_speed = g.pi_loiter_lat.get_p(y_error); - y_target_speed = constrain(y_error, -150, 150); + y_target_speed = constrain(y_error, -250, 250); // limit windup y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX); int16_t y_iterm = g.pi_loiter_lat.get_i(y_error, dTnav);