Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-12 02:48:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: limit throttle mid to throttle min + 50

Browse Source
This commit is contained in:
Leonard Hall 2015-08-23 15:44:33 +09:00 committed by Randy Mackay
parent 6b01c1117f
commit 0129110502
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/Attitude.cpp
View File

@ -140,7 +140,7 @@ int16_t Copter::get_pilot_desired_throttle(int16_t throttle_control)
// ensure reasonable throttle values
throttle_control = constrain_int16(throttle_control,0,1000);
g.throttle_mid = constrain_int16(g.throttle_mid,300,700);
g.throttle_mid = constrain_int16(g.throttle_mid,g.throttle_min+50,700);
// check throttle is above, below or in the deadband
if (throttle_control < mid_stick) {
@ -218,7 +218,7 @@ float Copter::get_throttle_pre_takeoff(float input_thr)
}
// TODO: does this parameter sanity check really belong here?
g.throttle_mid = constrain_int16(g.throttle_mid,300,700);
g.throttle_mid = constrain_int16(g.throttle_mid,g.throttle_min+50,700);
float in_min = g.throttle_min;
float in_max = get_takeoff_trigger_throttle();