From a632c49b446265f2604af18023c045a69b1db807 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sun, 4 Dec 2011 21:31:42 -0800 Subject: [PATCH] Alt_hold_patch, removed Z dampening from Manual override. Fixed integrator conversion to throttle_cruise --- ArduCopter/ArduCopter.pde | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index ada3c713e8..8a2d0ea79c 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -1145,9 +1145,9 @@ void update_throttle_mode(void) //remove alt_hold_velocity when implemented #if FRAME_CONFIG == HELI_FRAME - g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + manual_boost + get_z_damping()); + g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + manual_boost); #else - g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost + get_z_damping(); + g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost; #endif // reset next_WP.alt @@ -1397,14 +1397,14 @@ adjust_altitude() // we remove 0 to 100 PWM from hover manual_boost = g.rc_3.control_in - 180; manual_boost = max(-120, manual_boost); - g.throttle_cruise += (g.pi_alt_hold.get_integrator()); + g.throttle_cruise += g.pi_alt_hold.get_integrator(); g.pi_alt_hold.reset_I(); g.pi_throttle.reset_I(); }else if (g.rc_3.control_in >= 650){ // we add 0 to 100 PWM to hover manual_boost = g.rc_3.control_in - 650; - g.throttle_cruise += (g.pi_alt_hold.get_integrator()); + g.throttle_cruise += g.pi_alt_hold.get_integrator(); g.pi_alt_hold.reset_I(); g.pi_throttle.reset_I();