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Upped the max pitch to deal with wind - based on T3 testing

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This commit is contained in:
Jason Short 2011-12-11 23:14:16 -08:00
parent 6bc90d6289
commit d83ad1acd4
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/navigation.pde
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@ -191,7 +191,7 @@ static void calc_nav_rate(int max_speed)
// heading laterally, we want a zero speed here // heading laterally, we want a zero speed here
x_actual_speed = -sin(temp) * (float)g_gps->ground_speed; x_actual_speed = -sin(temp) * (float)g_gps->ground_speed;
x_rate_error = crosstrack_error -x_actual_speed; x_rate_error = crosstrack_error -x_actual_speed;
x_rate_error = constrain(x_rate_error, -800, 800); x_rate_error = constrain(x_rate_error, -1400, 1400);
nav_lon = constrain(g.pi_nav_lon.get_pi(x_rate_error, dTnav), -3500, 3500); nav_lon = constrain(g.pi_nav_lon.get_pi(x_rate_error, dTnav), -3500, 3500);
/*Serial.printf("max_speed %d,\tx_actual_speed %d,\tx_rate_error: %d,\tnav_lon: %d,\ty_actual_speed %d,\ty_rate_error: %d,\tnav_lat: %d,\t", /*Serial.printf("max_speed %d,\tx_actual_speed %d,\tx_rate_error: %d,\tnav_lon: %d,\ty_actual_speed %d,\ty_rate_error: %d,\tnav_lat: %d,\t",
max_speed, max_speed,
@ -206,7 +206,7 @@ static void calc_nav_rate(int max_speed)
// heading towards target // heading towards target
y_actual_speed = cos(temp) * (float)g_gps->ground_speed; y_actual_speed = cos(temp) * (float)g_gps->ground_speed;
y_rate_error = max_speed - y_actual_speed; // 413 y_rate_error = max_speed - y_actual_speed; // 413
y_rate_error = constrain(y_rate_error, -800, 800); // added a rate error limit to keep pitching down to a minimum y_rate_error = constrain(y_rate_error, -1400, 1400); // added a rate error limit to keep pitching down to a minimum
nav_lat = constrain(g.pi_nav_lat.get_pi(y_rate_error, dTnav), -3500, 3500); nav_lat = constrain(g.pi_nav_lat.get_pi(y_rate_error, dTnav), -3500, 3500);