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Added throttle_min as a user definable param

This commit is contained in:
Jason Short 2012-06-20 14:58:34 -07:00
parent 25a67c9953
commit 8ef60f2d75
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/ArduCopter.pde
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@ -1642,7 +1642,7 @@ void update_throttle_mode(void)
throttle_avg = g.throttle_cruise;
}
// calc average throttle
if ((g.rc_3.control_in > MINIMUM_THROTTLE) && abs(climb_rate) < 60){
if ((g.rc_3.control_in > g.throttle_min) && abs(climb_rate) < 60){
throttle_avg = throttle_avg * .98 + (float)g.rc_3.control_in * .02;
g.throttle_cruise = throttle_avg;
}
@ -2054,9 +2054,9 @@ static void update_altitude_est()
static void
adjust_altitude()
{
if(g.rc_3.control_in <= (MINIMUM_THROTTLE + THROTTLE_ADJUST)){
if(g.rc_3.control_in <= (g.throttle_min + THROTTLE_ADJUST)){
// we remove 0 to 100 PWM from hover
manual_boost = (g.rc_3.control_in - MINIMUM_THROTTLE) - THROTTLE_ADJUST;
manual_boost = (g.rc_3.control_in - g.throttle_min) - THROTTLE_ADJUST;
manual_boost = max(-THROTTLE_ADJUST, manual_boost);
}else if (g.rc_3.control_in >= (MAXIMUM_THROTTLE - THROTTLE_ADJUST)){