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temp removed alt D term until more testing

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Jason Short 2012-01-14 10:18:41 -08:00
parent e6ec80bb21
commit f25d741f62
1 changed files with 2 additions and 2 deletions
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ArduCopter/Attitude.pde
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@ -187,10 +187,10 @@ get_nav_throttle(int32_t z_error)
output = constrain((int)g.pi_throttle.get_p(rate_error), -160, 180); output = constrain((int)g.pi_throttle.get_p(rate_error), -160, 180);
// a positive climb rate means we're going up // 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 // slight adjustment to alt hold output
output -= constrain(rate_d, -25, 25); //output -= constrain(rate_d, -25, 25);
// light filter of output // light filter of output
output = (old_output * 3 + output) / 4; output = (old_output * 3 + output) / 4;