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Plane: fixed takeoff throttle slew rate 

when TKOFF_THR_SLEW is zero use the normal slew rate
This commit is contained in:
Andrew Tridgell 2014-05-31 16:47:45 +10:00
parent 2b0f142a17
commit 24325a5c62
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/Attitude.pde
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@ -475,11 +475,11 @@ static void calc_nav_roll()
static void throttle_slew_limit(int16_t last_throttle) static void throttle_slew_limit(int16_t last_throttle)
{ {
uint8_t slewrate = aparm.throttle_slewrate; uint8_t slewrate = aparm.throttle_slewrate;
if (control_mode==AUTO && auto_state.takeoff_complete == false) { if (control_mode==AUTO && auto_state.takeoff_complete == false && g.takeoff_throttle_slewrate != 0) {
slewrate = g.takeoff_throttle_slewrate; slewrate = g.takeoff_throttle_slewrate;
} }
// if slew limit rate is set to zero then do not slew limit // if slew limit rate is set to zero then do not slew limit
if (aparm.throttle_slewrate) { if (slewrate) {
// limit throttle change by the given percentage per second // limit throttle change by the given percentage per second
float temp = slewrate * G_Dt * 0.01f * fabsf(channel_throttle->radio_max - channel_throttle->radio_min); float temp = slewrate * G_Dt * 0.01f * fabsf(channel_throttle->radio_max - channel_throttle->radio_min);
// allow a minimum change of 1 PWM per cycle // allow a minimum change of 1 PWM per cycle