From 157374ad185b413903358ffaf450164d6d8d0517 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Tue, 18 Jun 2019 01:07:08 +0930 Subject: [PATCH] Copter: limit ATC_MOT_MIX_MAX in case of a fly away --- ArduCopter/land_detector.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/land_detector.cpp b/ArduCopter/land_detector.cpp index da4d21308e..d8ed9b1870 100644 --- a/ArduCopter/land_detector.cpp +++ b/ArduCopter/land_detector.cpp @@ -176,7 +176,7 @@ void Copter::update_throttle_thr_mix() bool descent_not_demanded = pos_control->get_desired_velocity().z >= 0.0f; if ( large_angle_request || large_angle_error || accel_moving || descent_not_demanded) { - attitude_control->set_throttle_mix_max(); + attitude_control->set_throttle_mix_max(pos_control->get_vel_z_control_ratio()); } else { attitude_control->set_throttle_mix_min(); }