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Code Issues Wiki Activity

Renamed alt_hold_throttle_neutral to alt_hold_deadband for consistency.

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This commit is contained in:
Dominic Clifton 2014-06-21 22:39:42 +01:00
parent d2ff7550ac
commit ed3e0769cf
5 changed files with 12 additions and 8 deletions
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6
src/main/mw.c
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@ -575,10 +575,10 @@ void loop(void)
// multirotor alt hold
if (currentProfile.alt_hold_fast_change) {
// rapid alt changes
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > currentProfile.alt_hold_throttle_neutral) {
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > currentProfile.alt_hold_deadband) {
errorAltitudeI = 0;
isAltHoldChanged = 1;
rcCommand[THROTTLE] += (rcCommand[THROTTLE] > initialThrottleHold) ? -currentProfile.alt_hold_throttle_neutral : currentProfile.alt_hold_throttle_neutral;
rcCommand[THROTTLE] += (rcCommand[THROTTLE] > initialThrottleHold) ? -currentProfile.alt_hold_deadband : currentProfile.alt_hold_deadband;
} else {
if (isAltHoldChanged) {
AltHold = EstAlt;
@ -588,7 +588,7 @@ void loop(void)
}
} else {
// slow alt changes for apfags
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > currentProfile.alt_hold_throttle_neutral) {
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > currentProfile.alt_hold_deadband) {
// 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;
AltHold += AltHoldCorr / 2000;