From dddf829c01efe12f26e6d39027ccdc9bebb39f4a Mon Sep 17 00:00:00 2001 From: Jason Short Date: Mon, 28 Nov 2011 10:31:49 -0800 Subject: [PATCH] removed need to send increment flag to update commands constrained climb_rate value --- ArduCopter/ArduCopter.pde | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index ef399b5f97..1138f5e808 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -753,7 +753,7 @@ static void medium_loop() // -------------------- if(control_mode == AUTO){ if(home_is_set == true && g.command_total > 1){ - update_commands(true); + update_commands(); } } @@ -1374,6 +1374,9 @@ static void update_altitude() current_loc.alt = baro_alt + home.alt; climb_rate = baro_rate; } + + // manage bad data + climb_rate = constrain(climb_rate, -300, 300); } static void