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Open up constraint on Rate Yaw Output for all copters.

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This commit is contained in:
Robert Lefebvre 2012-06-22 10:06:01 -04:00
parent 7b9583453b
commit 1064dcbd34
1 changed files with 2 additions and 8 deletions
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10
ArduCopter/Attitude.pde
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@ -253,15 +253,9 @@ get_rate_yaw(int32_t target_rate)
output = p+i+d;
// output control:
#if FRAME_CONFIG == HELI_FRAME
int16_t yaw_limit = 4500;
#else
int16_t yaw_limit = 1400 + abs(g.rc_4.control_in);
#endif
// constrain output
output = constrain(output, -yaw_limit, yaw_limit);
output = constrain(output, -4500, 4500);
#if LOGGING_ENABLED == ENABLED
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash