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added stab_d gain scheduling

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Jason Short 2012-02-28 20:15:03 -08:00
parent ceef8070ac
commit a387956814
1 changed files with 2 additions and 2 deletions
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ArduCopter/Attitude.pde
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@ -131,7 +131,7 @@ get_rate_roll(int32_t target_rate)
output = g.pid_rate_roll.get_pid(target_rate - current_rate, G_Dt);
// Dampening output with D term
rate_d_dampener = rate_d * g.stabilize_d;
rate_d_dampener = rate_d * roll_scale_d;
rate_d_dampener = constrain(rate_d_dampener, -400, 400);
output -= rate_d_dampener;
@ -161,7 +161,7 @@ get_rate_pitch(int32_t target_rate)
output = g.pid_rate_pitch.get_pid(target_rate - current_rate, G_Dt);
// Dampening output with D term
rate_d_dampener = rate_d * g.stabilize_d;
rate_d_dampener = rate_d * pitch_scale_d;
rate_d_dampener = constrain(rate_d_dampener, -400, 400);
output -= rate_d_dampener;