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AC_AttControl: allow MOT_THR_MIX_MAX to be 2.0

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The parameter description maximum of 0.9 should keep most users from
setting this parameter above 0.9 but there are rare cases for very high powered copters with low hover-throttle values where setting as high as 2.0 improves attitude control
This commit is contained in:
Leonard Hall 2016-11-30 12:22:13 +09:00 committed by Randy Mackay
parent d5faf977c8
commit 7c6bdfb95c
1 changed files with 3 additions and 1 deletions
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4
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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@ -238,7 +238,9 @@ void AC_AttitudeControl_Multi::parameter_sanity_check()
if (_thr_mix_min < 0.1f || _thr_mix_min > 0.25f) {
_thr_mix_min = AC_ATTITUDE_CONTROL_MIN_DEFAULT;
}
if (_thr_mix_max < 0.5f || _thr_mix_max > 0.9f) {
if (_thr_mix_max < 0.5f || _thr_mix_max > 2.0f) {
// parameter description recommends thr-mix-max be no higher than 0.9 but we allow up to 2.0
// which can be useful for very high powered copters with very low hover throttle
_thr_mix_max = AC_ATTITUDE_CONTROL_MAX_DEFAULT;
}
if (_thr_mix_min > _thr_mix_max) {