From d375de8424da9747766fce285cca2854671aed99 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Tue, 8 Nov 2011 14:11:02 -0800 Subject: [PATCH] SIM test --- ArduCopter/Attitude.pde | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde index e93dfda28d..0476971bea 100644 --- a/ArduCopter/Attitude.pde +++ b/ArduCopter/Attitude.pde @@ -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