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made resetting throttle cruise a function

This commit is contained in:
Jason Short 2012-01-13 16:47:08 -08:00
parent 589f8bc557
commit c970ba4f93
1 changed files with 2 additions and 8 deletions
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10
ArduCopter/ArduCopter.pde
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@ -1877,17 +1877,11 @@ adjust_altitude()
// we remove 0 to 100 PWM from hover
manual_boost = g.rc_3.control_in - 180;
manual_boost = max(-120, manual_boost);
g.throttle_cruise += g.pi_alt_hold.get_integrator();
g.pi_alt_hold.reset_I();
g.pi_throttle.reset_I();
update_throttle_cruise();
}else if (g.rc_3.control_in >= 650){
// we add 0 to 100 PWM to hover
manual_boost = g.rc_3.control_in - 650;
g.throttle_cruise += g.pi_alt_hold.get_integrator();
g.pi_alt_hold.reset_I();
g.pi_throttle.reset_I();
update_throttle_cruise();
}else {
manual_boost = 0;
}