From ccc2746a22ac775bd2787e3016ca76340431d2b5 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Tue, 8 Nov 2011 14:41:46 -0800 Subject: [PATCH] removed debugging code --- ArduCopter/Attitude.pde | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde index 0476971bea..9f636b1513 100644 --- a/ArduCopter/Attitude.pde +++ b/ArduCopter/Attitude.pde @@ -94,7 +94,7 @@ get_nav_throttle(int32_t z_error) bool calc_i = (abs(z_error) < ALT_ERROR_MAX); // limit error to prevent I term run up z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX); - int rate_error = g.pi_alt_hold.get_pi(z_error, .1, false); //_p = .85 + int rate_error = g.pi_alt_hold.get_pi(z_error, .1, calc_i); //_p = .85 rate_error = rate_error - climb_rate; // limit the rate