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Alt_hold_patch, removed Z dampening from Manual override. Fixed integrator conversion to throttle_cruise

This commit is contained in:
Jason Short 2011-12-04 21:31:42 -08:00
parent 55b2e5339a
commit ad94166c22
1 changed files with 4 additions and 4 deletions
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8
ArduCopter/ArduCopter.pde
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@ -1145,9 +1145,9 @@ void update_throttle_mode(void)
//remove alt_hold_velocity when implemented
#if FRAME_CONFIG == HELI_FRAME
g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + manual_boost + get_z_damping());
g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + manual_boost);
#else
g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost + get_z_damping();
g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost;
#endif
// reset next_WP.alt
@ -1397,14 +1397,14 @@ adjust_altitude()
// we remove 0 to 100 PWM from hover
manual_boost = g.rc_3.control_in - 180;
manual_boost = max(-120, manual_boost);
g.throttle_cruise += (g.pi_alt_hold.get_integrator());
g.throttle_cruise += g.pi_alt_hold.get_integrator();
g.pi_alt_hold.reset_I();
g.pi_throttle.reset_I();
}else if (g.rc_3.control_in >= 650){
// we add 0 to 100 PWM to hover
manual_boost = g.rc_3.control_in - 650;
g.throttle_cruise += (g.pi_alt_hold.get_integrator());
g.throttle_cruise += g.pi_alt_hold.get_integrator();
g.pi_alt_hold.reset_I();
g.pi_throttle.reset_I();