From 74d5767e2507bd1a2438e5f4fa6c68a8a5c67742 Mon Sep 17 00:00:00 2001
From: khancyr <pierre.kancir.emn@gmail.com>
Date: Fri, 6 Oct 2017 11:22:26 +0200
Subject: [PATCH] Rover: Fix slew rate range

---
 APMrover2/AP_MotorsUGV.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/APMrover2/AP_MotorsUGV.cpp b/APMrover2/AP_MotorsUGV.cpp
index f72baf6ba4..13bd573e51 100644
--- a/APMrover2/AP_MotorsUGV.cpp
+++ b/APMrover2/AP_MotorsUGV.cpp
@@ -354,7 +354,7 @@ void AP_MotorsUGV::output_throttle(SRV_Channel::Aux_servo_function_t function, f
 void AP_MotorsUGV::slew_limit_throttle(float dt)
 {
     if (_use_slew_rate && (_slew_rate > 0)) {
-        float temp = _slew_rate * dt * 0.01f * 100.0f;  // TODO : get THROTTLE MIN and THROTTLE MAX
+        float temp = _slew_rate * dt * 0.01f * (_throttle_max - _throttle_min);
         if (temp < 1.0f) {
             temp = 1.0f;
         }