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turned off iterm for traverse

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This commit is contained in:
Jason Short 2011-12-15 20:49:19 -08:00
parent b484fdab05
commit 2b5c039eae
1 changed files with 1 additions and 1 deletions
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ArduCopter/Attitude.pde
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@ -128,7 +128,7 @@ get_nav_throttle(int32_t z_error)
int16_t rate_error; int16_t rate_error;
// XXX HACK, need a better way not to ramp this i term in large altitude changes. // XXX HACK, need a better way not to ramp this i term in large altitude changes.
float dt = (abs(z_error) < 400) ? .1 : 0.01; float dt = (abs(z_error) < 400) ? .1 : 0.0;
// limit error to prevent I term run up // limit error to prevent I term run up
z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX); z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX);