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Plane: use correct throttle range in slewrate

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Andrew Tridgell 2012-11-28 11:42:05 +11:00
parent 845dd88091
commit 697c386075
1 changed files with 4 additions and 3 deletions
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7
ArduPlane/Attitude.pde
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@ -284,9 +284,10 @@ static void calc_nav_roll()
static void throttle_slew_limit() static void throttle_slew_limit()
{ {
static int16_t last = 1000; static int16_t last = 1000;
if(g.throttle_slewrate) { // if slew limit rate is set to zero then do not slew limit // if slew limit rate is set to zero then do not slew limit
if (g.throttle_slewrate) {
float temp = g.throttle_slewrate * G_Dt * 10.f; // * 10 to scale % to pwm range of 1000 to 2000 // limit throttle change by the given percentage per second
float temp = g.throttle_slewrate * G_Dt * 0.01 * fabs(g.channel_throttle.radio_max - g.channel_throttle.radio_min);
g.channel_throttle.radio_out = constrain(g.channel_throttle.radio_out, last - (int)temp, last + (int)temp); g.channel_throttle.radio_out = constrain(g.channel_throttle.radio_out, last - (int)temp, last + (int)temp);
last = g.channel_throttle.radio_out; last = g.channel_throttle.radio_out;
} }