From 0517ed519979923e7997b2561638cc4081cba375 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Sat, 18 Feb 2012 21:11:06 -0800
Subject: [PATCH] updated throttle range

---
 ArduCopter/radio.pde | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/ArduCopter/radio.pde b/ArduCopter/radio.pde
index 544e43f765..d119b3e76a 100644
--- a/ArduCopter/radio.pde
+++ b/ArduCopter/radio.pde
@@ -22,10 +22,7 @@ static void init_rc_in()
 	// set rc channel ranges
 	g.rc_1.set_angle(4500);
 	g.rc_2.set_angle(4500);
-	g.rc_3.set_range(0, MAXIMUM_THROTTLE);
-    #if FRAME_CONFIG !=	HELI_FRAME
-	g.rc_3.scale_output = .9;
-	#endif
+	g.rc_3.set_range(MINIMUM_THROTTLE, MAXIMUM_THROTTLE);
 	g.rc_4.set_angle(4500);
 
 	// reverse: CW = left
@@ -69,7 +66,7 @@ static void init_rc_out()
     }
 
 	// we are full throttle
-	if(g.rc_3.control_in == 800){
+	if(g.rc_3.control_in >= (MAXIMUM_THROTTLE - 50)){
 		if(g.esc_calibrate == 0){
 			// we will enter esc_calibrate mode on next reboot
 			g.esc_calibrate.set_and_save(1);
@@ -138,7 +135,7 @@ static void read_radio()
 
 		#if FRAME_CONFIG != HELI_FRAME
 			// limit our input to 800 so we can still pitch and roll
-			g.rc_3.control_in = min(g.rc_3.control_in, 800);
+			g.rc_3.control_in = min(g.rc_3.control_in, MAXIMUM_THROTTLE);
 		#endif
 
 		throttle_failsafe(g.rc_3.radio_in);