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Code Issues Releases Activity

throttle does not accelerate downwards but upwards - switched sign

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This commit is contained in:
Corvus Corax 2013-12-08 10:44:17 +01:00
parent 981fc4321d
commit 90f689cfa1
1 changed files with 1 additions and 1 deletions
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2
flight/modules/AltitudeHold/altitudehold.c
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@ -171,7 +171,7 @@ static void altitudeHoldTask(void)
}
// acceleration control loop
float throttle = startThrottle + pid_apply_setpoint(&accelpid, 1.0f, rotatedAccelDesired, accelStateDown, 1000 / DESIRED_UPDATE_RATE_MS);
float throttle = startThrottle - pid_apply_setpoint(&accelpid, 1.0f, rotatedAccelDesired, accelStateDown, 1000 / DESIRED_UPDATE_RATE_MS);
if (throttle >= 1.0f) {
throttle = 1.0f;