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ArduCopter - altitude hold - ensure throttle_avg is initialised from g.throttle_cruise parameter

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This commit is contained in:
rmackay9 2012-03-23 23:48:24 +09:00
parent 19981d4864
commit 1f253c5217
1 changed files with 5 additions and 1 deletions
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6
ArduCopter/ArduCopter.pde
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@ -1580,7 +1580,7 @@ void update_throttle_mode(void)
int16_t throttle_out;
#if AUTO_THROTTLE_HOLD != 0
static float throttle_avg = THROTTLE_CRUISE;
static float throttle_avg = 0; // this is initialised to g.throttle_cruise later
#endif
switch(throttle_mode){
@ -1598,6 +1598,10 @@ void update_throttle_mode(void)
#endif
#if AUTO_THROTTLE_HOLD != 0
// ensure throttle_avg has been initialised
if( throttle_avg == 0 ) {
throttle_avg = g.throttle_cruise;
}
// calc average throttle
if ((g.rc_3.control_in > MINIMUM_THROTTLE) && abs(climb_rate) < 60){
throttle_avg = throttle_avg * .98 + (float)g.rc_3.control_in * .02;