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AC_AttControl_Heli: get_althold_lean_angle_max in 0 to 1 range

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This commit is contained in:
Randy Mackay 2016-02-17 20:15:08 +09:00
parent db04dddba5
commit 32d238187f
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -236,7 +236,7 @@ void AC_AttitudeControl_Heli::rate_controller_run()
float AC_AttitudeControl_Heli::get_althold_lean_angle_max() const
{
// calc maximum tilt angle based on throttle
float ret = acosf(constrain_float(_throttle_in_filt.get()/900.0f, 0.0f, 1000.0f) / 1000.0f);
float ret = acosf(constrain_float(_throttle_in_filt.get()/0.9f, 0.0f, 1.0f));
// TEMP: convert to centi-degrees for public interface
return degrees(ret) * 100.0f;