Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

ACM: increased the available rate error constrain, it was too low

This commit is contained in:
Jason Short 2012-03-10 12:39:16 -08:00
parent bd4835a1b2
commit fc32da0d2e
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/Attitude.pde
View File

@ -192,7 +192,7 @@ get_nav_throttle(int32_t z_error)
// convert to desired Rate:
rate_error = g.pi_alt_hold.get_p(z_error);
rate_error = constrain(rate_error, -150, 150);
rate_error = constrain(rate_error, -250, 250);
// limit error to prevent I term wind up
z_error = constrain(z_error, -400, 400);