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Copter: correct get_pilot_desired_throttle calc

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Also minor format and commenting addition
This commit is contained in:
Randy Mackay 2014-11-17 17:57:21 -08:00
parent 73f3b50e2f
commit 84f82dd129
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/Attitude.pde
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@ -140,7 +140,7 @@ static int16_t get_pilot_desired_throttle(int16_t throttle_control)
throttle_out = g.throttle_min + ((float)(throttle_control-g.throttle_min))*((float)(g.throttle_mid - g.throttle_min))/((float)(mid_stick-g.throttle_min));
}else if(throttle_control > mid_stick) {
// above the deadband
throttle_out = g.throttle_mid + ((float)(throttle_control-mid_stick))*(float)(1000-g.throttle_mid)/mid_stick;
throttle_out = g.throttle_mid + ((float)(throttle_control-mid_stick)) * (float)(1000-g.throttle_mid) / (float)(1000-mid_stick);
}else{
// must be in the deadband
throttle_out = g.throttle_mid;
@ -165,7 +165,6 @@ static int16_t get_pilot_desired_climb_rate(int16_t throttle_control)
int16_t deadband_top = mid_stick + g.throttle_deadzone;
int16_t deadband_bottom = mid_stick - g.throttle_deadzone;
// ensure a reasonable throttle value
throttle_control = constrain_int16(throttle_control,g.throttle_min,1000);
@ -208,6 +207,7 @@ static int16_t get_throttle_pre_takeoff(int16_t throttle_control)
return 0;
}
// calculate mid stick and deadband
int16_t mid_stick = g.rc_3.get_control_mid();
int16_t deadband_top = mid_stick + g.throttle_deadzone;