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AC_AttitudeControl: constrain _angle_boost to avoid overflow

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Jonathan Challinger 2015-04-23 21:27:00 -07:00 committed by Randy Mackay
parent fdf226ebc1
commit ab2532a609
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -734,7 +734,7 @@ float AC_AttitudeControl::get_boosted_throttle(float throttle_in)
float boost_factor = 1.0f/constrain_float(cos_tilt, 0.5f, 1.0f);
float throttle_out = (throttle_in-min_throttle)*inverted_factor*boost_factor + min_throttle;
_angle_boost = throttle_out - throttle_in;
_angle_boost = constrain_float(throttle_out - throttle_in,-32000,32000);
return throttle_out;
}