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Code Issues Releases Activity

Fix bug in the integral for altitude hold where it was accumulating wrong variable.

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This commit is contained in:
James Cotton 2012-02-21 00:37:52 -06:00
parent 900780e10c
commit 7b548eaa54
1 changed files with 1 additions and 1 deletions
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2
flight/Modules/AltitudeHold/altitudehold.c
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@ -332,7 +332,7 @@ static void altitudeHoldTask(void *parameters)
error = (starting_altitude + altitudeHoldDesired.Altitude) - altHold.Altitude; error = (starting_altitude + altitudeHoldDesired.Altitude) - altHold.Altitude;
// Compute integral off altitude error // Compute integral off altitude error
throttleIntegral += ((starting_altitude + altitudeHoldDesired.Altitude) - altHold.Velocity) * altitudeHoldSettings.Ki * dT; throttleIntegral += error * altitudeHoldSettings.Ki * dT;
// Only update stabilizationDesired less frequently // Only update stabilizationDesired less frequently
if((thisTime - lastUpdateTime) < 20) if((thisTime - lastUpdateTime) < 20)