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trying to improve alt hold. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1608 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-02-07 06:19:01 +00:00
parent dcccaf4ca7
commit d373278068
1 changed files with 6 additions and 2 deletions
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8
ArduCopterMega/flight_control.pde
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@ -25,10 +25,14 @@ void calc_nav_throttle()
long error = constrain(altitude_error, -300, 300); long error = constrain(altitude_error, -300, 300);
if(altitude_sensor == BARO) { if(altitude_sensor == BARO) {
if(error > 0){
pid_baro_throttle.kP(.25);
}else{
pid_baro_throttle.kP(.05);
}
nav_throttle = pid_baro_throttle.get_pid(error, delta_ms_fast_loop, 1.0); nav_throttle = pid_baro_throttle.get_pid(error, delta_ms_fast_loop, 1.0);
// limit output of throttle control // limit output of throttle control
nav_throttle = throttle_cruise + constrain(nav_throttle, -50, 100); nav_throttle = throttle_cruise + constrain(nav_throttle, -15, 70);
} else { } else {
// SONAR // SONAR