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AC_PosControl: ensure throttle output above zero

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Leonard Hall 2015-03-16 13:26:42 +09:00 committed by Randy Mackay
parent 31a55b2bd6
commit 9a3f48cc1f
1 changed files with 4 additions and 1 deletions
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5
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -380,8 +380,11 @@ void AC_PosControl::accel_to_throttle(float accel_target_z)
// get d term
d = _pid_accel_z.get_d();
// ensure throttle is above zero (or motors lib will stop stabilizing)
int16_t thr_out = max((int16_t)p+i+d+_throttle_hover,1);
// send throttle to attitude controller with angle boost
_attitude_control.set_throttle_out((int16_t)p+i+d+_throttle_hover, true);
_attitude_control.set_throttle_out(thr_out, true);
}
///