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Rover: Fix slew rate range

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khancyr 2017-10-06 11:22:26 +02:00 committed by Randy Mackay
parent 2986d3eb7d
commit 74d5767e25
1 changed files with 1 additions and 1 deletions
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2
APMrover2/AP_MotorsUGV.cpp
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@ -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) void AP_MotorsUGV::slew_limit_throttle(float dt)
{ {
if (_use_slew_rate && (_slew_rate > 0)) { 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) { if (temp < 1.0f) {
temp = 1.0f; temp = 1.0f;
} }