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AP_Motors: apply tailsitter min spin to both motors

This commit is contained in:
Andrew Tridgell 2017-11-04 11:41:05 +11:00
parent e5154abc38
commit 98c2f23371
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Motors/AP_MotorsTailsitter.cpp
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@ -75,8 +75,8 @@ void AP_MotorsTailsitter::output_to_motors()
case THROTTLE_UNLIMITED: case THROTTLE_UNLIMITED:
case SPOOL_DOWN: { case SPOOL_DOWN: {
throttle = _spin_min + throttle * (1 - _spin_min); throttle = _spin_min + throttle * (1 - _spin_min);
throttle_left = constrain_float(throttle + _rudder*0.5, 0, 1); throttle_left = constrain_float(throttle + _rudder*0.5, _spin_min, 1);
throttle_right = constrain_float(throttle - _rudder*0.5, 0, 1); throttle_right = constrain_float(throttle - _rudder*0.5, _spin_min, 1);
// initialize limits flags // initialize limits flags
limit.roll_pitch = false; limit.roll_pitch = false;
limit.yaw = false; limit.yaw = false;