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ACM: Added a more sane limit to Angle boost

This commit is contained in:
Jason Short 2012-08-17 23:03:59 -07:00
parent 64cfaf74b7
commit bc631b656e
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/Attitude.pde
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@ -504,7 +504,7 @@ static long
static int16_t get_angle_boost(int16_t value) static int16_t get_angle_boost(int16_t value)
{ {
float temp = cos_pitch_x * cos_roll_x; 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); return ((float)(g.throttle_cruise + 80) / temp) - (g.throttle_cruise + 80);
} }