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updated dual kp alt hold 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1627 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-02-10 07:25:56 +00:00
parent c22d86f6ea
commit fdf277428e
1 changed files with 7 additions and 5 deletions
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12
ArduCopterMega/flight_control.pde
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@ -25,15 +25,17 @@ void calc_nav_throttle()
long error = constrain(altitude_error, -300, 300); long error = constrain(altitude_error, -300, 300);
if(altitude_sensor == BARO) { if(altitude_sensor == BARO) {
float t = pid_baro_throttle.kP();
if(error > 0){ if(error > 0){
pid_baro_throttle.kP(.25); //pid_baro_throttle.kP(.25);
}else{ }else{
pid_baro_throttle.kP(.05); pid_baro_throttle.kP(t/4.0);
} }
nav_throttle = pid_baro_throttle.get_pid(error, delta_ms_fast_loop, 1.0);
// limit output of throttle control // limit output of throttle control
nav_throttle = throttle_cruise + constrain(nav_throttle, -15, 70); nav_throttle = throttle_cruise + constrain(nav_throttle, -20, 70);
pid_baro_throttle.kP(t);
} else { } else {
// SONAR // SONAR
nav_throttle = pid_sonar_throttle.get_pid(error, delta_ms_fast_loop, 1.0); nav_throttle = pid_sonar_throttle.get_pid(error, delta_ms_fast_loop, 1.0);