zrzk
/
ardupilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Added Acro_P

mission-4.1.18
Jason Short 13 years ago
parent
574b86b02e
commit
fcb24ee17d
1 changed files with 2 additions and 2 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      ArduCopter/Attitude.pde

4
ArduCopter/Attitude.pde
Unescape View File

@ -83,7 +83,7 @@ get_stabilize_yaw(int32_t target_angle)
static int static int
get_acro_roll(int32_t target_rate) get_acro_roll(int32_t target_rate)
{ {
target_rate = target_rate * g.pi_stabilize_roll.kP(); target_rate = target_rate * g.acro_P;
target_rate = constrain(target_rate, -10000, 10000); target_rate = constrain(target_rate, -10000, 10000);
return get_rate_roll(target_rate); return get_rate_roll(target_rate);
} }
@ -91,7 +91,7 @@ get_acro_roll(int32_t target_rate)
static int static int
get_acro_pitch(int32_t target_rate) get_acro_pitch(int32_t target_rate)
{ {
target_rate = target_rate * g.pi_stabilize_pitch.kP(); target_rate = target_rate * g.acro_P;
target_rate = constrain(target_rate, -10000, 10000); target_rate = constrain(target_rate, -10000, 10000);
return get_rate_pitch(target_rate); return get_rate_pitch(target_rate);
} }

Write Preview
Loading…
Cancel
Save