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ArduCopter: bug fix (attempt #2) for accel based throttle controller

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Thanks to Jonathan for this.
This commit is contained in:
rmackay9 2012-12-22 14:56:22 +09:00 committed by Andrew Tridgell
parent e583ade62d
commit 393c893cdb
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/Attitude.pde
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@ -809,10 +809,10 @@ get_throttle_accel(int16_t z_target_accel)
float z_accel_meas;
// Calculate Earth Frame Z acceleration
z_accel_meas = (ahrs.get_accel_ef().z - gravity) * 100;
z_accel_meas = -(ahrs.get_accel_ef().z + gravity) * 100;
// calculate accel error and Filter with fc = 2 Hz
z_accel_error = z_accel_error + 0.11164 * (constrain(z_target_accel + z_accel_meas, -32000, 32000) - z_accel_error);
z_accel_error = z_accel_error + 0.11164 * (constrain(z_target_accel - z_accel_meas, -32000, 32000) - z_accel_error);
// separately calculate p, i, d values for logging
p = g.pid_throttle_accel.get_p(z_accel_error);