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AP_MotorsMulticopter: Use same throttle value used by motors

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This commit is contained in:
Leonard Hall 2016-08-28 12:09:09 +09:30 committed by Randy Mackay
parent d74ae535d1
commit 0a56d69d54
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -378,7 +378,7 @@ void AP_MotorsMulticopter::set_throttle_range(int16_t radio_min, int16_t radio_m
void AP_MotorsMulticopter::update_throttle_hover(float dt)
{
if (_throttle_hover_learn != HOVER_LEARN_DISABLED) {
_throttle_hover = _throttle_hover + (dt/(dt+AP_MOTORS_THST_HOVER_TC))*(_throttle_in-_throttle_hover);
_throttle_hover = _throttle_hover + (dt/(dt+AP_MOTORS_THST_HOVER_TC))*(get_throttle()-_throttle_hover);
}
}