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renamed err to altitude_error 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1478 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-01-10 02:49:45 +00:00
parent cfea6b014a
commit bcd3e7db56
1 changed files with 2 additions and 2 deletions
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4
ArduCopterMega/flight_control.pde
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@ -24,13 +24,13 @@ void calc_nav_throttle()
long t_out; long t_out;
if(altitude_sensor == BARO) { if(altitude_sensor == BARO) {
t_out = pid_baro_throttle.get_pid(err, deltaMiliSeconds, 1.0); t_out = pid_baro_throttle.get_pid(altitude_error, deltaMiliSeconds, 1.0);
// limit output of throttle control // limit output of throttle control
t_out = throttle_cruise + constrain(t_out, -50, 100); t_out = throttle_cruise + constrain(t_out, -50, 100);
} else { } else {
// SONAR // SONAR
t_out = pid_sonar_throttle.get_pid(err, deltaMiliSeconds, 1.0); t_out = pid_sonar_throttle.get_pid(altitude_error, deltaMiliSeconds, 1.0);
// limit output of throttle control // limit output of throttle control
t_out = throttle_cruise + constrain(t_out, -60, 100); t_out = throttle_cruise + constrain(t_out, -60, 100);