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Added define for throttle range for altitude changes, updated it to 250

This commit is contained in:
Jason Short 2012-03-05 22:12:53 -08:00
parent 6c1299fe7e
commit fe5612d38b
1 changed files with 8 additions and 8 deletions
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16
ArduCopter/ArduCopter.pde
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@ -1949,20 +1949,20 @@ static void update_altitude()
next_WP.alt = get_new_altitude(); next_WP.alt = get_new_altitude();
} }
#define THROTTLE_ADJUST 250
static void static void
adjust_altitude() adjust_altitude()
{ {
if(g.rc_3.control_in <= (MINIMUM_THROTTLE + 100)){ if(g.rc_3.control_in <= (MINIMUM_THROTTLE + THROTTLE_ADJUST)){
// we remove 0 to 100 PWM from hover // we remove 0 to 100 PWM from hover
manual_boost = (g.rc_3.control_in - MINIMUM_THROTTLE) -100; manual_boost = (g.rc_3.control_in - MINIMUM_THROTTLE) - THROTTLE_ADJUST;
manual_boost = max(-100, manual_boost); manual_boost = max(-THROTTLE_ADJUST, manual_boost);
update_throttle_cruise();
}else if (g.rc_3.control_in >= (MAXIMUM_THROTTLE - 100)){ }else if (g.rc_3.control_in >= (MAXIMUM_THROTTLE - THROTTLE_ADJUST)){
// we add 0 to 100 PWM to hover // we add 0 to 100 PWM to hover
manual_boost = g.rc_3.control_in - (MAXIMUM_THROTTLE - 100); manual_boost = g.rc_3.control_in - (MAXIMUM_THROTTLE - THROTTLE_ADJUST);
manual_boost = min(100, manual_boost); manual_boost = min(THROTTLE_ADJUST, manual_boost);
update_throttle_cruise();
}else { }else {
manual_boost = 0; manual_boost = 0;
} }