mirror of https://github.com/ArduPilot/ardupilot
MotorsSingle: fix output_armed_stabilized min thr limit
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@ -138,7 +138,6 @@ void AP_MotorsSingle::output_armed_not_stabilizing()
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{
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int16_t throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
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int16_t out_min = _throttle_radio_min + _min_throttle;
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int16_t min_thr = rel_pwm_to_thr_range(_spin_when_armed_ramped);
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// initialize limits flags
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limit.roll_pitch = true;
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@ -146,8 +145,9 @@ void AP_MotorsSingle::output_armed_not_stabilizing()
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limit.throttle_lower = false;
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limit.throttle_upper = false;
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if (_throttle_control_input <= min_thr) {
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_throttle_control_input = min_thr;
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int16_t thr_in_min = rel_pwm_to_thr_range(_spin_when_armed_ramped);
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if (_throttle_control_input <= thr_in_min) {
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_throttle_control_input = thr_in_min;
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limit.throttle_lower = true;
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}
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if (_throttle_control_input >= _max_throttle) {
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@ -196,8 +196,9 @@ void AP_MotorsSingle::output_armed_stabilizing()
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limit.throttle_upper = false;
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// Throttle is 0 to 1000 only
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if (_throttle_control_input <= _min_throttle) {
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_throttle_control_input = _min_throttle;
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int16_t thr_in_min = rel_pwm_to_thr_range(_min_throttle);
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if (_throttle_control_input <= thr_in_min) {
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_throttle_control_input = thr_in_min;
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limit.throttle_lower = true;
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}
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if (_throttle_control_input >= _max_throttle) {
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