From b830afd67837092145e39bdc4cc46d435216d667 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Sun, 23 Jan 2011 02:08:46 +0000
Subject: [PATCH] was adding throttle cruise twice.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1527 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/flight_control.pde | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduCopterMega/flight_control.pde b/ArduCopterMega/flight_control.pde
index 84260ad36b..83f7f9fb8a 100644
--- a/ArduCopterMega/flight_control.pde
+++ b/ArduCopterMega/flight_control.pde
@@ -28,6 +28,7 @@ void calc_nav_throttle()
 	
 		// limit output of throttle control
 		t_out = throttle_cruise + constrain(t_out, -50, 100);
+
 	} else {
 		// SONAR
 		t_out = pid_sonar_throttle.get_pid(altitude_error, delta_ms_fast_loop, 1.0);
@@ -36,7 +37,7 @@ void calc_nav_throttle()
 		t_out = throttle_cruise + constrain(t_out, -60, 100);
 	}
 	
-	nav_throttle = (float)(throttle_cruise + t_out) * angle_boost();
+	nav_throttle = (float)t_out * angle_boost();
 }
 
 float angle_boost()