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AP_Motors: Tradheli- fix governor spool up bug

This commit is contained in:
Bill Geyer 2021-11-01 22:25:08 -04:00 committed by Bill Geyer
parent 22c2329063
commit 2ac157b188

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@ -463,7 +463,7 @@ void AP_MotorsHeli_RSC::autothrottle_run()
if (_rotor_rpm >= (_governor_rpm * 0.5f)) {
float torque_limit = (get_governor_torque() * get_governor_torque());
_governor_output = (_rotor_rpm / _governor_rpm) * torque_limit;
_control_output = constrain_float(throttlecurve + _governor_output, 0.0f, 1.0f);
_control_output = constrain_float(get_idle_output() + (_rotor_ramp_output * (throttlecurve + _governor_output - get_idle_output())), 0.0f, 1.0f);
_governor_torque_reference = _control_output; // increment torque setting to be passed to main power loop
if (_rotor_rpm >= (_governor_rpm - 2.0f)) {
_governor_engage = true;