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bug fixed in altitude_pid_run: CLIMB_PITCH_MODE restored

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This commit is contained in:
Pascal Brisset
2006-07-17 17:36:11 +00:00
parent 7fe713213e
commit bd8c49d2a8
1 changed files with 3 additions and 6 deletions
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sw/airborne/nav.c
+3 -6
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@@ -575,8 +575,7 @@ climb_pid_run ( void ) {
case CLIMB_MODE_GAZ:
fgaz = controlled_gaz;
climb_sum_err += err;
if (climb_sum_err > MAX_CLIMB_SUM_ERR) climb_sum_err = MAX_CLIMB_SUM_ERR;
if (climb_sum_err < - MAX_CLIMB_SUM_ERR) climb_sum_err = - MAX_CLIMB_SUM_ERR;
Bound(climb_sum_err, -MAX_CLIMB_SUM_ERR, MAX_CLIMB_SUM_ERR);
nav_pitch += pitch_of_vz;
break;
@@ -624,12 +623,10 @@ void altitude_pid_run(void) {
#ifdef AGR_CLIMB_GAZ
float dist = fabs(altitude_error);
if (dist < AGR_BLEND_END) {
if (climb_mode == CLIMB_MODE_PITCH || dist < AGR_BLEND_END) {
#endif
desired_climb = pre_climb + altitude_pgain * altitude_error;
if (desired_climb < -CLIMB_MAX) desired_climb = -CLIMB_MAX;
if (desired_climb > CLIMB_MAX) desired_climb = CLIMB_MAX;
climb_mode = CLIMB_MODE_GAZ;
Bound(desired_climb, -CLIMB_MAX, CLIMB_MAX);
#ifdef AGR_CLIMB_GAZ
} else if (dist > AGR_BLEND_START)
climb_mode = CLIMB_MODE_AGRESSIVE;