Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-05 07:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_AttitudeControl: fixed factor of 1000 error in init_takeoff

Browse Source
This commit is contained in:
Andrew Tridgell 2016-06-21 23:23:31 +10:00
parent 752c1834e1
commit d1b28aaed9
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AC_AttitudeControl/AC_PosControl.cpp
View File

@ -306,7 +306,7 @@ void AC_PosControl::init_takeoff()
freeze_ff_z(); freeze_ff_z();
// shift difference between last motor out and hover throttle into accelerometer I // shift difference between last motor out and hover throttle into accelerometer I
_pid_accel_z.set_integrator(_motors.get_throttle()-_motors.get_throttle_hover()); _pid_accel_z.set_integrator((_motors.get_throttle()-_motors.get_throttle_hover())*1000.0f);
} }
// is_active_z - returns true if the z-axis position controller has been run very recently // is_active_z - returns true if the z-axis position controller has been run very recently