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Arducopter: Slower WP deceleration for RTL and WP navigation 

Slower descent and slightly faster ascent
This commit is contained in:
Jason Short 2012-07-19 09:50:18 -07:00
parent 91c1c255a2
commit ec1d400adf
1 changed files with 4 additions and 4 deletions
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8
ArduCopter/navigation.pde
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@ -261,10 +261,10 @@ static int16_t get_desired_speed(int16_t max_speed, bool _slow)
// max_speed is default 600 or 6m/s
if(_slow){
max_speed = min(max_speed, wp_distance / 2);
max_speed = min(max_speed, wp_distance / 4);
max_speed = max(max_speed, 0);
}else{
max_speed = min(max_speed, wp_distance);
max_speed = min(max_speed, wp_distance / 2);
max_speed = max(max_speed, WAYPOINT_SPEED_MIN); // go at least 100cm/s
}
@ -281,10 +281,10 @@ static int16_t get_desired_speed(int16_t max_speed, bool _slow)
static int16_t get_desired_climb_rate(int16_t speed)
{
if(alt_change_flag == ASCENDING){
return constrain(altitude_error / 4, 65, speed);
return constrain(altitude_error / 4, 65, 180); // 180cm /s up
}else if(alt_change_flag == DESCENDING){
return constrain(altitude_error / 6, -speed, -10);
return constrain(altitude_error / 6, -100, 0); // -100cm /s down
}else{
return 0;