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MotorsSingle: fix output_armed_stabilized min thr limit

This commit is contained in:
Randy Mackay 2015-07-20 17:06:37 +09:00
parent bd9a605086
commit 8a308205ce
1 changed files with 6 additions and 5 deletions
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11
libraries/AP_Motors/AP_MotorsSingle.cpp
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@ -138,7 +138,6 @@ void AP_MotorsSingle::output_armed_not_stabilizing()
{
int16_t throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
int16_t out_min = _throttle_radio_min + _min_throttle;
int16_t min_thr = rel_pwm_to_thr_range(_spin_when_armed_ramped);
// initialize limits flags
limit.roll_pitch = true;
@ -146,8 +145,9 @@ void AP_MotorsSingle::output_armed_not_stabilizing()
limit.throttle_lower = false;
limit.throttle_upper = false;
if (_throttle_control_input <= min_thr) {
_throttle_control_input = min_thr;
int16_t thr_in_min = rel_pwm_to_thr_range(_spin_when_armed_ramped);
if (_throttle_control_input <= thr_in_min) {
_throttle_control_input = thr_in_min;
limit.throttle_lower = true;
}
if (_throttle_control_input >= _max_throttle) {
@ -196,8 +196,9 @@ void AP_MotorsSingle::output_armed_stabilizing()
limit.throttle_upper = false;
// Throttle is 0 to 1000 only
if (_throttle_control_input <= _min_throttle) {
_throttle_control_input = _min_throttle;
int16_t thr_in_min = rel_pwm_to_thr_range(_min_throttle);
if (_throttle_control_input <= thr_in_min) {
_throttle_control_input = thr_in_min;
limit.throttle_lower = true;
}
if (_throttle_control_input >= _max_throttle) {