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Added Acro_P

This commit is contained in:
Jason Short 2012-02-15 09:07:19 -08:00
parent 574b86b02e
commit fcb24ee17d
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/Attitude.pde
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@ -83,7 +83,7 @@ get_stabilize_yaw(int32_t target_angle)
static int static int
get_acro_roll(int32_t target_rate) get_acro_roll(int32_t target_rate)
{ {
target_rate = target_rate * g.pi_stabilize_roll.kP(); target_rate = target_rate * g.acro_P;
target_rate = constrain(target_rate, -10000, 10000); target_rate = constrain(target_rate, -10000, 10000);
return get_rate_roll(target_rate); return get_rate_roll(target_rate);
} }
@ -91,7 +91,7 @@ get_acro_roll(int32_t target_rate)
static int static int
get_acro_pitch(int32_t target_rate) get_acro_pitch(int32_t target_rate)
{ {
target_rate = target_rate * g.pi_stabilize_pitch.kP(); target_rate = target_rate * g.acro_P;
target_rate = constrain(target_rate, -10000, 10000); target_rate = constrain(target_rate, -10000, 10000);
return get_rate_pitch(target_rate); return get_rate_pitch(target_rate);
} }