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APM: added credit for FBW altitude limit code 

thanks Yuri!
This commit is contained in:
Andrew Tridgell 2012-07-10 08:36:50 +10:00
parent 6d3fdfc03a
commit c80a88766f
1 changed files with 4 additions and 1 deletions
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ArduPlane/ArduPlane.pde
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@ -3,7 +3,7 @@
#define THISFIRMWARE "ArduPlane V2.40" #define THISFIRMWARE "ArduPlane V2.40"
/* /*
Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler
Thanks to: Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier Thanks to: Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier, Yury MonZon
Please contribute your ideas! Please contribute your ideas!
@ -1064,6 +1064,9 @@ static void update_current_flight_mode(void)
// Substitute stick inputs for Navigation control output // Substitute stick inputs for Navigation control output
// We use g.pitch_limit_min because its magnitude is // We use g.pitch_limit_min because its magnitude is
// normally greater than g.pitch_limit_max // normally greater than g.pitch_limit_max
// Thanks to Yury MonZon for the altitude limit code!
nav_roll = g.channel_roll.norm_input() * g.roll_limit; nav_roll = g.channel_roll.norm_input() * g.roll_limit;
altitude_error = g.channel_pitch.norm_input() * g.pitch_limit_min; altitude_error = g.channel_pitch.norm_input() * g.pitch_limit_min;