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MotorsMatrix: _min_throttle interpreted as 0 ~ 1000 range for throttle_lower flag 

Also trigger throttle_upper flag when throttle in reaches 1000
This commit is contained in:
Randy Mackay 2014-10-04 23:28:32 +09:00
parent 91e5201439
commit 85fb4b122a
1 changed files with 3 additions and 4 deletions
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7
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -145,11 +145,11 @@ void AP_MotorsMatrix::output_armed()
// Throttle is 0 to 1000 only // Throttle is 0 to 1000 only
// To-Do: we should not really be limiting this here because we don't "own" this _rc_throttle object // To-Do: we should not really be limiting this here because we don't "own" this _rc_throttle object
if (_rc_throttle.servo_out < 0) { if (_rc_throttle.servo_out <= 0) {
_rc_throttle.servo_out = 0; _rc_throttle.servo_out = 0;
limit.throttle_lower = true; limit.throttle_lower = true;
} }
if (_rc_throttle.servo_out > _max_throttle) { if (_rc_throttle.servo_out >= _max_throttle) {
_rc_throttle.servo_out = _max_throttle; _rc_throttle.servo_out = _max_throttle;
limit.throttle_upper = true; limit.throttle_upper = true;
} }
@ -179,12 +179,11 @@ void AP_MotorsMatrix::output_armed()
// Every thing is limited // Every thing is limited
limit.roll_pitch = true; limit.roll_pitch = true;
limit.yaw = true; limit.yaw = true;
limit.throttle_lower = true;
} else { } else {
// check if throttle is below limit // check if throttle is below limit
if (_rc_throttle.radio_out <= out_min_pwm) { // perhaps being at min throttle itself is not a problem, only being under is if (_rc_throttle.servo_out <= _min_throttle) { // perhaps being at min throttle itself is not a problem, only being under is
limit.throttle_lower = true; limit.throttle_lower = true;
} }