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added a constraint to D term

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Jason Short 2012-02-23 09:14:27 -08:00
parent e88e6200b4
commit b1340bbf80
1 changed files with 2 additions and 0 deletions
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ArduCopter/Attitude.pde
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@ -134,6 +134,7 @@ get_rate_roll(int32_t target_rate)
// MultiWii uses a filter of the last three to get around noise and get a stronger signal. // MultiWii uses a filter of the last three to get around noise and get a stronger signal.
// Works well! Thanks! // Works well! Thanks!
int16_t d_temp = (rate_d1 + rate_d2 + rate_d3) * g.stabilize_d; int16_t d_temp = (rate_d1 + rate_d2 + rate_d3) * g.stabilize_d;
d_temp = constrain(d_temp, -400, 400);
target_rate -= d_temp; target_rate -= d_temp;
// output control: // output control:
@ -167,6 +168,7 @@ get_rate_pitch(int32_t target_rate)
// D term // D term
int16_t d_temp = (rate_d1 + rate_d2 + rate_d3) * g.stabilize_d; int16_t d_temp = (rate_d1 + rate_d2 + rate_d3) * g.stabilize_d;
d_temp = constrain(d_temp, -400, 400);
target_rate -= d_temp; target_rate -= d_temp;
// output control: // output control: