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

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