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Merge remote-tracking branch 'multiwii/master'

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Conflicts:
	src/flight_imu.c
	src/mw.c
This commit is contained in:
Dominic Clifton 2014-05-05 01:43:57 +01:00 • committed by Hydra
commit c004e48a87
2 changed files with 20 additions and 18 deletions
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5
src/mw.c
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@ -587,7 +587,7 @@ void loop(void)
AltHold = EstAlt;
isAltHoldChanged = 0;
}
rcCommand[THROTTLE] = initialThrottleHold + BaroPID;
rcCommand[THROTTLE] = constrain(initialThrottleHold + BaroPID, masterConfig.escAndServoConfig.minthrottle + 100, masterConfig.escAndServoConfig.maxthrottle);
}
} else {
// slow alt changes for apfags
@ -602,8 +602,7 @@ void loop(void)
AltHoldCorr = 0;
isAltHoldChanged = 0;
}
rcCommand[THROTTLE] = initialThrottleHold + BaroPID;
rcCommand[THROTTLE] = constrain(rcCommand[THROTTLE], masterConfig.escAndServoConfig.minthrottle + 150, masterConfig.escAndServoConfig.maxthrottle);
rcCommand[THROTTLE] = constrain(initialThrottleHold + BaroPID, masterConfig.escAndServoConfig.minthrottle + 100, masterConfig.escAndServoConfig.maxthrottle);
}
} else {
// handle fixedwing-related althold. UNTESTED! and probably wrong