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AC_AttitudeControlHeli: fix update_althold_lean_angle_max use of throttle_in

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This commit is contained in:
Randy Mackay 2020-01-29 10:57:53 +09:00
parent 3c8aa955d5
commit 84e6c59fdd
1 changed files with 1 additions and 1 deletions
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libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -325,7 +325,7 @@ void AC_AttitudeControl_Heli::rate_controller_run()
// Update Alt_Hold angle maximum // Update Alt_Hold angle maximum
void AC_AttitudeControl_Heli::update_althold_lean_angle_max(float throttle_in) void AC_AttitudeControl_Heli::update_althold_lean_angle_max(float throttle_in)
{ {
float althold_lean_angle_max = acosf(constrain_float(_throttle_in / AC_ATTITUDE_HELI_ANGLE_LIMIT_THROTTLE_MAX, 0.0f, 1.0f)); float althold_lean_angle_max = acosf(constrain_float(throttle_in / AC_ATTITUDE_HELI_ANGLE_LIMIT_THROTTLE_MAX, 0.0f, 1.0f));
_althold_lean_angle_max = _althold_lean_angle_max + (_dt / (_dt + _angle_limit_tc)) * (althold_lean_angle_max - _althold_lean_angle_max); _althold_lean_angle_max = _althold_lean_angle_max + (_dt / (_dt + _angle_limit_tc)) * (althold_lean_angle_max - _althold_lean_angle_max);
} }