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Copter: bug fix to take-off in Loiter and AltHold

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Always set the target altitude after take-off to be current altitude +
20cm.  This resolves a bug in which the target altitude could end up
being a couple of meters higher than the current altitude if the user
entered Loiter / Alt Hold mode before inertial nav altitude estimate had
settled.
This commit is contained in:
Randy Mackay 2013-11-11 22:29:09 +09:00
parent 03831cdd28
commit f29f7d9777
1 changed files with 2 additions and 3 deletions
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5
ArduCopter/Attitude.pde
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@ -979,9 +979,8 @@ static void
set_throttle_takeoff()
{
// set alt target
if (controller_desired_alt < current_loc.alt) {
controller_desired_alt = current_loc.alt + ALT_HOLD_TAKEOFF_JUMP;
}
controller_desired_alt = current_loc.alt + ALT_HOLD_TAKEOFF_JUMP;
// clear i term from acceleration controller
if (g.pid_throttle_accel.get_integrator() < 0) {
g.pid_throttle_accel.reset_I();