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Copter: Use GRAVITY_MSS

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muramura 2024-10-05 14:43:57 +09:00 committed by Randy Mackay
parent 8a5556cb4e
commit da69e22673
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/mode_poshold.cpp
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@ -588,7 +588,7 @@ void ModePosHold::update_wind_comp_estimate()
} }
// limit acceleration // limit acceleration
const float accel_lim_cmss = tanf(radians(POSHOLD_WIND_COMP_LEAN_PCT_MAX * copter.aparm.angle_max * 0.01f)) * 981.0f; const float accel_lim_cmss = tanf(radians(POSHOLD_WIND_COMP_LEAN_PCT_MAX * copter.aparm.angle_max * 0.01f)) * (GRAVITY_MSS*100);
const float wind_comp_ef_len = wind_comp_ef.length(); const float wind_comp_ef_len = wind_comp_ef.length();
if (!is_zero(accel_lim_cmss) && (wind_comp_ef_len > accel_lim_cmss)) { if (!is_zero(accel_lim_cmss) && (wind_comp_ef_len > accel_lim_cmss)) {
wind_comp_ef *= accel_lim_cmss / wind_comp_ef_len; wind_comp_ef *= accel_lim_cmss / wind_comp_ef_len;