From bd05ea84cc02bb7a39c3ff10ce854ceeea1240c9 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 14 Jan 2013 13:30:25 +0900 Subject: [PATCH] Copter: constrain loiter so that it never commands more than 45 degrees of lean in lat or lon directions --- ArduCopter/navigation.pde | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde index decb98b0a6..396643dceb 100644 --- a/ArduCopter/navigation.pde +++ b/ArduCopter/navigation.pde @@ -406,7 +406,7 @@ static void calc_loiter(int16_t x_error, int16_t y_error) } output = p + i + d; - nav_lon = constrain(output, -32000, 32000); // constraint to remove chance of overflow when adding int32_t to int16_t + nav_lon = constrain(output, -4500, 4500); // constrain max angle to 45 degrees #if LOGGING_ENABLED == ENABLED // log output if PID logging is on and we are tuning the yaw @@ -439,7 +439,7 @@ static void calc_loiter(int16_t x_error, int16_t y_error) } output = p + i + d; - nav_lat = constrain(output, -32000, 32000); // constraint to remove chance of overflow when adding int32_t to int16_t + nav_lat = constrain(output, -4500, 4500); // constrain max angle to 45 degrees #if LOGGING_ENABLED == ENABLED // log output if PID logging is on and we are tuning the yaw @@ -485,7 +485,7 @@ static void calc_loiter(int16_t x_error, int16_t y_error) } output = p + i + d; - nav_lon = constrain(output, -32000, 32000); // constraint to remove chance of overflow when adding int32_t to int16_t + nav_lon = constrain(output, -4500, 4500); // constrain max angle to 45 degrees #if LOGGING_ENABLED == ENABLED // log output if PID logging is on and we are tuning the yaw @@ -518,7 +518,7 @@ static void calc_loiter(int16_t x_error, int16_t y_error) } output = p + i + d; - nav_lat = constrain(output, -32000, 32000); // constraint to remove chance of overflow when adding int32_t to int16_t + nav_lat = constrain(output, -4500, 4500); // constrain max angle to 45 degrees #if LOGGING_ENABLED == ENABLED // log output if PID logging is on and we are tuning the yaw