Added simple constrain for Alt d term

2012-01-13 08:49:55 -08:00 · 2012-01-13 08:49:55 -08:00 · ee7c948781
parent b0810e054e
commit ee7c948781
1 changed files with 1 additions and 1 deletions
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@ -190,7 +190,7 @@ get_nav_throttle(int32_t z_error)
 	rate_d =  ((rate_d + climb_rate)>>1) * 1; // replace with gain

 	// slight adjustment to alt hold output
-	output -= rate_d;
+	output -= constrain(rate_d, -25, 25);

 	// light filter of output
 	output = (old_output * 3 + output) / 4;