From 2ac157b188c6cb622801325fe20a02b75c3b1543 Mon Sep 17 00:00:00 2001 From: Bill Geyer Date: Mon, 1 Nov 2021 22:25:08 -0400 Subject: [PATCH] AP_Motors: Tradheli- fix governor spool up bug --- libraries/AP_Motors/AP_MotorsHeli_RSC.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp index 221e2e6187..5fa3c649b1 100644 --- a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp @@ -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;