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Code Issues Releases Activity

Flip the sign of throttle in the guidance altitude control

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This commit is contained in:
James Cotton 2012-03-14 21:52:45 -05:00
parent 7f226867c6
commit 62117430cf
1 changed files with 2 additions and 0 deletions
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2
flight/Modules/Guidance/guidance.c
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@ -364,6 +364,8 @@ static void updateVtolDesiredAttitude()
// Compute desired down command
downError = velocityDesired.Down - velocityActual.Down;
// Must flip this sign
downError = -downError;
downVelIntegral = bound(downVelIntegral + downError * dT * guidanceSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_KI],
-guidanceSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_ILIMIT],
guidanceSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_ILIMIT]);