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Copter: remove throttle controller's ability to limit lean angle

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Randy Mackay 2013-06-04 15:23:50 +09:00
parent 0ca14af391
commit af5e69dc40
1 changed files with 0 additions and 4 deletions
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4
ArduCopter/Attitude.pde
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@ -1020,10 +1020,6 @@ get_throttle_rate(float z_target_speed)
set_throttle_out(g.throttle_cruise+output, true);
}
// limit loiter & waypoint navigation from causing too much lean
// To-Do: ensure that this limit is cleared when this throttle controller is not running so that loiter is not left constrained for Position mode
wp_nav.set_angle_limit(4500 - constrain_float((z_rate_error - 100) * 10, 0, 3500));
// update throttle cruise
// TO-DO: this may not be correct because g.rc_3.servo_out has not been updated for this iteration
if( z_target_speed == 0 ) {