From df2137ed729aa3811c6e6941527473f97820c2f4 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 14 Jan 2013 13:30:25 +0900 Subject: [PATCH] Copter: constrain loiter so that it never commands more than 45 degrees of lean in lat or lon directions --- ArduCopter/navigation.pde | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde index 92dc873eac..b877622677 100644 --- a/ArduCopter/navigation.pde +++ b/ArduCopter/navigation.pde @@ -423,7 +423,7 @@ static void calc_loiter(int16_t x_error, int16_t y_error) } output = p + i + d; - nav_lon = constrain(output, -32000, 32000); // constraint to remove chance of overflow when adding int32_t to int16_t + nav_lon = constrain(output, -4500, 4500); // constrain max angle to 45 degrees #if LOGGING_ENABLED == ENABLED // log output if PID logging is on and we are tuning the yaw @@ -456,7 +456,7 @@ static void calc_loiter(int16_t x_error, int16_t y_error) } output = p + i + d; - nav_lat = constrain(output, -32000, 32000); // constraint to remove chance of overflow when adding int32_t to int16_t + nav_lat = constrain(output, -4500, 4500); // constrain max angle to 45 degrees #if LOGGING_ENABLED == ENABLED // log output if PID logging is on and we are tuning the yaw @@ -502,7 +502,7 @@ static void calc_loiter(int16_t x_error, int16_t y_error) } output = p + i + d; - nav_lon = constrain(output, -32000, 32000); // constraint to remove chance of overflow when adding int32_t to int16_t + nav_lon = constrain(output, -4500, 4500); // constrain max angle to 45 degrees #if LOGGING_ENABLED == ENABLED // log output if PID logging is on and we are tuning the yaw @@ -535,7 +535,7 @@ static void calc_loiter(int16_t x_error, int16_t y_error) } output = p + i + d; - nav_lat = constrain(output, -32000, 32000); // constraint to remove chance of overflow when adding int32_t to int16_t + nav_lat = constrain(output, -4500, 4500); // constrain max angle to 45 degrees #if LOGGING_ENABLED == ENABLED // log output if PID logging is on and we are tuning the yaw