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@ -85,7 +85,7 @@ get_stabilize_yaw(long target_angle) |
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#define ALT_ERROR_MAX 400 |
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#define ALT_ERROR_MAX 400 |
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static int |
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static int |
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get_nav_throttle(long z_error)//, //int target_speed) |
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get_nav_throttle(long z_error) |
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{ |
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{ |
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// limit error to prevent I term run up |
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// limit error to prevent I term run up |
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z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX); |
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z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX); |
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