Alt hold fix

13 years ago · 0446cae242
1 changed files with 1 additions and 3 deletions
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@ -94,12 +94,10 @@ get_nav_throttle(long z_error)
				@@ -94,12 +94,10 @@ get_nav_throttle(long z_error)
 	// 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); //_p = .85
-
 	rate_error 		= rate_error - climb_rate;

 	// limit the rate
-	rate_error 		= constrain(rate_error, -80, 140);
-	return (int)g.pi_throttle.get_pi(rate_error, .1);
+	return constrain((int)g.pi_throttle.get_pi(rate_error, .1), -120, 180);
 }

 static int