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AP_MotorsHeli: constrain filtered throttle

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This is required because we have removed the constraint on the throttle input.  This also insures that there is no lag caused by the filtered throttle straying far outside the 0 to 1 range
This commit is contained in:
Randy Mackay 2016-03-23 11:29:32 +09:00
parent b4a61e6ccf
commit 9b5b6f3779
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -356,6 +356,14 @@ void AP_MotorsHeli::reset_swash_servo(RC_Channel& servo)
void AP_MotorsHeli::update_throttle_filter() void AP_MotorsHeli::update_throttle_filter()
{ {
_throttle_filter.apply(_throttle_in, 1.0f/_loop_rate); _throttle_filter.apply(_throttle_in, 1.0f/_loop_rate);
// constrain filtered throttle
if (_throttle_filter.get() < 0.0f) {
_throttle_filter.reset(0.0f);
}
if (_throttle_filter.get() > 1.0f) {
_throttle_filter.reset(1.0f);
}
} }
// reset_flight_controls - resets all controls and scalars to flight status // reset_flight_controls - resets all controls and scalars to flight status