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AC_AttitudeControlMulti: fix update_althold_lean_angle_max use of

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throttle_in
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Leonardo Felipe L. S. dos Santos 2020-01-28 17:08:22 -03:00 committed by Randy Mackay
parent 623c84ae74
commit 07f45e1ef9
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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@ -236,7 +236,7 @@ void AC_AttitudeControl_Multi::update_althold_lean_angle_max(float throttle_in)
return;
}
float althold_lean_angle_max = acosf(constrain_float(_throttle_in / (AC_ATTITUDE_CONTROL_ANGLE_LIMIT_THROTTLE_MAX * thr_max), 0.0f, 1.0f));
float althold_lean_angle_max = acosf(constrain_float(throttle_in / (AC_ATTITUDE_CONTROL_ANGLE_LIMIT_THROTTLE_MAX * thr_max), 0.0f, 1.0f));
_althold_lean_angle_max = _althold_lean_angle_max + (_dt / (_dt + _angle_limit_tc)) * (althold_lean_angle_max - _althold_lean_angle_max);
}