mirror of https://github.com/ArduPilot/ardupilot
2.0.20
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2449 f9c3cf11-9bcb-44bc-f272-b75c42450872
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@ -168,6 +168,9 @@ void calc_rate_nav()
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nav_lat = nav_lat + g.pid_nav_wp.get_pid(error, dTnav, 1.0);
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nav_lat >>= 1; // divide by two
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// unfiltered:
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//nav_lat = g.pid_nav_wp.get_pid(error, dTnav, 1.0);
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//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);
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// limit our output
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