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Added in limit for alt hold to prevent I term run up. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2870 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-07-16 21:53:47 +00:00
parent 7e4a416012
commit b8f1fbe2fc
1 changed files with 6 additions and 2 deletions
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8
ArduCopterMega/navigation.pde
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@ -21,7 +21,7 @@ void navigate()
wp_distance = get_distance(&current_loc, &next_WP); wp_distance = get_distance(&current_loc, &next_WP);
if (wp_distance < 0){ if (wp_distance < 0){
gcs.send_text_P(SEVERITY_HIGH,PSTR("<navigate> WP error - distance < 0")); //gcs.send_text_P(SEVERITY_HIGH,PSTR("<navigate> WP error - distance < 0"));
//Serial.println(wp_distance,DEC); //Serial.println(wp_distance,DEC);
//print_current_waypoints(); //print_current_waypoints();
return; return;
@ -48,9 +48,13 @@ get_nav_throttle(long error)
{ {
int throttle; int throttle;
// limit error // limit error to 4 meters to prevent I term run up
error = constrain(error, -400,400);
throttle = g.pid_throttle.get_pid(error, delta_ms_medium_loop, 1.0); throttle = g.pid_throttle.get_pid(error, delta_ms_medium_loop, 1.0);
throttle = g.throttle_cruise + constrain(throttle, -80, 80); throttle = g.throttle_cruise + constrain(throttle, -80, 80);
// failed experiment
//int tem = alt_hold_velocity(); //int tem = alt_hold_velocity();
//throttle -= tem; //throttle -= tem;