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oops. gyro only does NOT need getEstimatedAttitude. bad!

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ms5611 driver improvements (was failing below 20c)
merged some althold cleanups

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@411 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-09-21 11:18:15 +00:00
parent 1ff4bcec5a
commit 64e8f247bf
4 changed files with 23 additions and 26 deletions
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9
src/mw.c
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@ -823,17 +823,16 @@ void loop(void)
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > cfg.alt_hold_throttle_neutral) {
// Slowly increase/decrease AltHold proportional to stick movement ( +100 throttle gives ~ +50 cm in 1 second with cycle time about 3-4ms)
AltHoldCorr += rcCommand[THROTTLE] - initialThrottleHold;
if (abs(AltHoldCorr) > 500) {
AltHold += AltHoldCorr / 500;
AltHoldCorr %= 500;
}
errorAltitudeI = 0;
AltHold += AltHoldCorr / 2000;
AltHoldCorr %= 2000;
isAltHoldChanged = 1;
} else if (isAltHoldChanged) {
AltHold = EstAlt;
AltHoldCorr = 0;
isAltHoldChanged = 0;
}
rcCommand[THROTTLE] = initialThrottleHold + BaroPID;
rcCommand[THROTTLE] = constrain(rcCommand[THROTTLE], mcfg.minthrottle + 150, mcfg.maxthrottle);
}
}
}