Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_MotorsMulti: float constants

Browse Source
This commit is contained in:
Leonard Hall 2016-05-26 22:13:49 +09:00 committed by Randy Mackay
parent 79a73a5c2f
commit 02881b59ff
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_Motors/AP_MotorsMulticopter.cpp
View File

@ -332,7 +332,7 @@ float AP_MotorsMulticopter::get_compensation_gain() const
int16_t AP_MotorsMulticopter::calc_thrust_to_pwm(float thrust_in) const
{
thrust_in = constrain_float(thrust_in, 0, 1);
thrust_in = constrain_float(thrust_in, 0.0f, 1.0f);
return get_pwm_output_min() + (get_pwm_output_max()-get_pwm_output_min()) * (_spin_min + (_spin_max-_spin_min)*apply_thrust_curve_and_volt_scaling(thrust_in));
}