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AR_AttitudeControl: get_throttle_out_speed uses timeout definition

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This commit is contained in:
Randy Mackay 2018-01-05 11:34:31 +09:00
parent 4ac5ef3a13
commit 1bb18bc941
1 changed files with 1 additions and 1 deletions
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2
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -320,7 +320,7 @@ float AR_AttitudeControl::get_throttle_out_speed(float desired_speed, bool motor
// calculate dt
const uint32_t now = AP_HAL::millis();
float dt = (now - _speed_last_ms) / 1000.0f;
if (_speed_last_ms == 0 || dt > 0.1f) {
if ((_speed_last_ms == 0) || (dt > (AR_ATTCONTROL_TIMEOUT_MS / 1000.0f))) {
dt = 0.0f;
_throttle_speed_pid.reset_filter();
} else {