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ACM : climb rate option using Bill P's equation

This commit is contained in:
Jason Short 2012-11-09 22:06:11 -08:00
parent 129ec35c35
commit fb2180ddcd
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/navigation.pde
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@ -524,7 +524,7 @@ static void reset_desired_speed()
#define DECEL_CLIMB_RATE 30
static int16_t get_desired_climb_rate()
static int16_t get_desired_climb_rate_new()
{
static int16_t climb_old = 0;
@ -555,7 +555,7 @@ static int16_t get_desired_climb_rate()
return climb;
}
static int16_t get_desired_climb_rate_old()
static int16_t get_desired_climb_rate()
{
if(alt_change_flag == ASCENDING) {
return constrain(altitude_error / 4, 100, 180); // 180cm /s up, minimum is 100cm/s