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Copter: fix get_non_takeoff_throttle

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The throttle_mid parameter (for historic reason) is interpreted as a value that includes throttle_min.  This means we must subtract the throttle_min value from it when converting it to a throttle in the 0 to 1 range.
This commit is contained in:
Randy Mackay 2016-05-07 12:20:48 +09:00
parent 4a06ca4be2
commit a5c55c3fbd
1 changed files with 3 additions and 1 deletions
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ArduCopter/Attitude.cpp
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@ -199,7 +199,9 @@ float Copter::get_pilot_desired_climb_rate(float throttle_control)
// get_non_takeoff_throttle - a throttle somewhere between min and mid throttle which should not lead to a takeoff
float Copter::get_non_takeoff_throttle()
{
return (((float)g.throttle_mid/1000.0f)/2.0f);
// ensure mid throttle is set within a reasonable range
g.throttle_mid = constrain_int16(g.throttle_mid,g.throttle_min+50,700);
return MAX(0,g.throttle_mid-g.throttle_min) / ((float)(1000-g.throttle_min) * 2.0f);
}
float Copter::get_takeoff_trigger_throttle()