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AC_AttitudeControlHeli: fix update_althold_lean_angle_max

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Leonard Hall 2016-05-31 16:07:52 +09:00 committed by Randy Mackay
parent 096bdd67f8
commit 9bd8878c8b
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -236,7 +236,7 @@ void AC_AttitudeControl_Heli::rate_controller_run()
void AC_AttitudeControl_Heli::update_althold_lean_angle_max(float throttle_in)
{
float althold_lean_angle_max = acos(constrain_float(_throttle_in/AC_ATTITUDE_CONTROL_ANGLE_LIMIT_THROTTLE_MAX, 0.0f, 1.0f));
_althold_lean_angle_max = _althold_lean_angle_max + (_dt/(_dt+_angle_limit_tc))*(_throttle_in-_althold_lean_angle_max);
_althold_lean_angle_max = _althold_lean_angle_max + (_dt/(_dt+_angle_limit_tc))*(althold_lean_angle_max-_althold_lean_angle_max);
}
//