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Copter: pass alt hold gain to WP_Nav library

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This commit is contained in:
Randy Mackay 2013-05-31 21:04:10 +09:00
parent 8c4a7ec094
commit 1722e438d8
2 changed files with 4 additions and 1 deletions
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3
ArduCopter/ArduCopter.pde
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@ -1271,6 +1271,9 @@ static void super_slow_loop()
Log_Write_Data(DATA_AP_STATE, ap.value); Log_Write_Data(DATA_AP_STATE, ap.value);
} }
// pass latest alt hold kP value to navigation controller
wp_nav.set_althold_kP(g.pi_alt_hold.kP());
// log battery info to the dataflash // log battery info to the dataflash
if ((g.log_bitmask & MASK_LOG_CURRENT) && motors.armed()) if ((g.log_bitmask & MASK_LOG_CURRENT) && motors.armed())
Log_Write_Current(); Log_Write_Current();

2
ArduCopter/config.h
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@ -954,7 +954,7 @@
#endif #endif
// the acceleration used to define the distance-velocity curve // the acceleration used to define the distance-velocity curve
#ifndef ALT_HOLD_ACCEL_MAX #ifndef ALT_HOLD_ACCEL_MAX
# define ALT_HOLD_ACCEL_MAX 250 # define ALT_HOLD_ACCEL_MAX 250 // if you change this you must also update the duplicate declaration in AC_WPNav.h
#endif #endif
// Throttle Accel control // Throttle Accel control