From bc631b656ebdf70ece4d18a317487812bcb7e67f Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Fri, 17 Aug 2012 23:03:59 -0700
Subject: [PATCH] ACM: Added a more sane limit to Angle boost

---
 ArduCopter/Attitude.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index bb30341f5a..bf8433e706 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -504,7 +504,7 @@ static long
 static int16_t get_angle_boost(int16_t value)
 {
 	float temp = cos_pitch_x * cos_roll_x;
-	temp = constrain(temp, .5, 1.0);
+	temp = constrain(temp, .75, 1.0);
 	return ((float)(g.throttle_cruise + 80) / temp) - (g.throttle_cruise + 80);
 }