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2.0.39

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Added a limiter to Throttle_slew to not make the throttle go past 800.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2989 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-08-01 03:39:44 +00:00
parent f951ffb602
commit a0f61fd29e
1 changed files with 9 additions and 2 deletions
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11
ArduCopterMega/ArduCopterMega.pde
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@ -794,6 +794,8 @@ static void fifty_hz_loop()
else if (throttle_slew > 0) else if (throttle_slew > 0)
throttle_slew--; throttle_slew--;
throttle_slew = min((800 - throttle), throttle_slew);
# if HIL_MODE == HIL_MODE_DISABLED # if HIL_MODE == HIL_MODE_DISABLED
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
Log_Write_Attitude(); Log_Write_Attitude();
@ -1562,8 +1564,13 @@ static void auto_throttle()
// apply throttle control // apply throttle control
g.rc_3.servo_out = get_throttle(nav_throttle - throttle_slew); g.rc_3.servo_out = get_throttle(nav_throttle - throttle_slew);
// remember throttle offset if(motor_armed){
throttle_slew = g.rc_3.servo_out - g.rc_3.control_in; // remember throttle offset
throttle_slew = g.rc_3.servo_out - g.rc_3.control_in;
}else{
// don't allow
throttle_slew = 0;
}
// clear the new data flag // clear the new data flag
invalid_throttle = false; invalid_throttle = false;