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Copter: fix for acro throttle bug

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Randy Mackay 2013-03-02 10:28:44 +09:00
parent 54fffd1348
commit 476a6d0164
1 changed files with 5 additions and 1 deletions
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6
ArduCopter/Attitude.pde
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@ -737,7 +737,11 @@ static int16_t get_angle_boost(int16_t throttle)
int16_t throttle_out;
temp = constrain(temp, 0.5f, 1.0f);
temp = constrain(9000-max(labs(roll_axis),labs(pitch_axis)), 0, 3000) / (3000 * temp);
// reduce throttle if we go inverted
temp = constrain(9000-max(labs(ahrs.roll_sensor),labs(ahrs.pitch_sensor)), 0, 3000) / (3000 * temp);
// apply scale and constrain throttle
throttle_out = constrain((float)(throttle-g.throttle_min) * temp + g.throttle_min, g.throttle_min, 1000);
// to allow logging of angle boost