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SIM test

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This commit is contained in:
Jason Short 2011-11-08 14:11:02 -08:00
parent b29f4456c4
commit d375de8424
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/Attitude.pde
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@ -91,10 +91,10 @@ get_stabilize_yaw(int32_t target_angle)
static int
get_nav_throttle(int32_t z_error)
{
bool calc_i = abs(z_error) < ALT_ERROR_MAX;
bool calc_i = (abs(z_error) < ALT_ERROR_MAX);
// limit error to prevent I term run up
z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX);
int rate_error = g.pi_alt_hold.get_pi(z_error, .1, calc_i); //_p = .85
int rate_error = g.pi_alt_hold.get_pi(z_error, .1, false); //_p = .85
rate_error = rate_error - climb_rate;
// limit the rate