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AC_PosControl: relax_alt_hold_controllers accepts throttle in 0 to 1 range

This commit is contained in:
Leonard Hall 2016-01-06 13:29:19 +09:00 committed by Randy Mackay
parent 15be80a25d
commit c64a505906
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -241,7 +241,7 @@ void AC_PosControl::relax_alt_hold_controllers(float throttle_setting)
_accel_last_z_cms = 0.0f;
_accel_target.z = -(_ahrs.get_accel_ef_blended().z + GRAVITY_MSS) * 100.0f;
_flags.reset_accel_to_throttle = true;
_pid_accel_z.set_integrator(throttle_setting);
_pid_accel_z.set_integrator(throttle_setting*1000.0f);
}
// get_alt_error - returns altitude error in cm