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Copter: constrain auto roll and pitch to 45 degrees

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Randy Mackay 2013-01-14 14:26:26 +09:00
parent e362844532
commit aa8e5b0aef
1 changed files with 4 additions and 0 deletions
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4
ArduCopter/navigation.pde
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@ -592,6 +592,10 @@ static void calc_nav_pitch_roll()
// flip pitch because forward is negative // flip pitch because forward is negative
auto_pitch = -auto_pitch; auto_pitch = -auto_pitch;
// constrain maximum roll and pitch angles to 45 degrees
auto_roll = constrain(auto_roll, -4500, 4500);
auto_pitch = constrain(auto_pitch, -4500, 4500);
} }
static int16_t get_desired_speed(int16_t max_speed) static int16_t get_desired_speed(int16_t max_speed)