From f25d741f6290a246c1dff4f5cb12671098077d77 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sat, 14 Jan 2012 10:18:41 -0800 Subject: [PATCH] temp removed alt D term until more testing --- ArduCopter/Attitude.pde | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde index c52e782114..c99cdb0259 100644 --- a/ArduCopter/Attitude.pde +++ b/ArduCopter/Attitude.pde @@ -187,10 +187,10 @@ get_nav_throttle(int32_t z_error) output = constrain((int)g.pi_throttle.get_p(rate_error), -160, 180); // a positive climb rate means we're going up - rate_d = ((rate_d + climb_rate)>>1) * .1; // replace with gain + //rate_d = ((rate_d + climb_rate)>>1) * .1; // replace with gain // slight adjustment to alt hold output - output -= constrain(rate_d, -25, 25); + //output -= constrain(rate_d, -25, 25); // light filter of output output = (old_output * 3 + output) / 4;