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