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2.0.20 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2449 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-31 05:39:58 +00:00
parent 9abd8c6336
commit f4dd8a4f99
1 changed files with 3 additions and 0 deletions
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ArduCopterMega/navigation.pde
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@ -168,6 +168,9 @@ void calc_rate_nav()
nav_lat = nav_lat + g.pid_nav_wp.get_pid(error, dTnav, 1.0); nav_lat = nav_lat + g.pid_nav_wp.get_pid(error, dTnav, 1.0);
nav_lat >>= 1; // divide by two nav_lat >>= 1; // divide by two
// unfiltered:
//nav_lat = g.pid_nav_wp.get_pid(error, dTnav, 1.0);
//Serial.printf("dTnav: %ld, gs: %d, err: %d, int: %d, pitch: %ld", dTnav, groundspeed, error, (int)g.pid_nav_wp.get_integrator(), (long)nav_lat); //Serial.printf("dTnav: %ld, gs: %d, err: %d, int: %d, pitch: %ld", dTnav, groundspeed, error, (int)g.pid_nav_wp.get_integrator(), (long)nav_lat);
// limit our output // limit our output