Nav roll PID is inappropriately scaled by ground speed.

[GoogleCodeExporter]

The function of the nav roll PID is to turn the plane to a specific heading. It 
is currently being scaled based on ground speed, however, turn rates do not 
vary with ground speed and this PID should not be scaled by anything at all.

Solution: comment this stuff out in attitude.pde:
// Adjust gain based on ground speed - We need lower nav gain going in to a 
headwind, etc.
// This does not make provisions for wind speed in excess of airframe speed
nav_gain_scaler = (float)g_gps->ground_speed / (STANDARD_SPEED * 100.0);
nav_gain_scaler = constrain(nav_gain_scaler, 0.2, 1.4);

Original issue reported on code.google.com by Mr.Challinger@gmail.com on 29 Dec 2011 at 7:52

[GoogleCodeExporter]

Discussion in progress..

Original comment by dewei...@gmail.com on 2 Jan 2012 at 9:26

• Changed state: st

[GoogleCodeExporter]

fix being tested

Original comment by dewei...@gmail.com on 9 Jan 2012 at 4:32

• Changed state: Started

[GoogleCodeExporter]

This issue can be closed. A patch that fixes this properly has been pushed to 
master.

Original comment by Mr.Challinger@gmail.com on 19 Jul 2012 at 9:08

[GoogleCodeExporter]

fixed

Original comment by tridg...@gmail.com on 17 Aug 2012 at 5:11

• Changed state: Fixed