From 593cf18c5c0ec26f2e3659fa6e475405585d0573 Mon Sep 17 00:00:00 2001 From: abeck70 Date: Tue, 5 May 2015 22:49:39 +1000 Subject: [PATCH] OP-1848 altvario Update dT to speed on sensor update rate --- flight/modules/Stabilization/altitudeloop.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/modules/Stabilization/altitudeloop.cpp b/flight/modules/Stabilization/altitudeloop.cpp index 7b1aa8bed..4c406f868 100644 --- a/flight/modules/Stabilization/altitudeloop.cpp +++ b/flight/modules/Stabilization/altitudeloop.cpp @@ -191,7 +191,7 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) altitudeHoldSettings.VerticalVelPID.Ki, altitudeHoldSettings.VerticalVelPID.Kd, altitudeHoldSettings.VerticalVelPID.Beta, - (float)(OUTERLOOP_SKIPCOUNT * UPDATE_EXPECTED), + (float)(UPDATE_EXPECTED), altitudeHoldSettings.ThrustRate); controlDown.UpdatePositionalParameters(altitudeHoldSettings.VerticalPosP);