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Updated manual throttle control during throttle hold

This commit is contained in:
Jason Short 2012-02-19 12:40:51 -08:00
parent a4b8119c24
commit ba2cfee2fb
1 changed files with 9 additions and 5 deletions
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14
ArduCopter/ArduCopter.pde
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@ -1602,9 +1602,12 @@ void update_throttle_mode(void)
manual_boost,
iterm);
//*/
// this lets us know we need to update the altitude after manual throttle control
reset_throttle_flag = true;
}else{
// we are under automatic throttle control
// ---------------------------------------
if(reset_throttle_flag) {
set_new_altitude(max(current_loc.alt, 100));
reset_throttle_flag = false;
@ -1920,15 +1923,16 @@ static void update_altitude()
static void
adjust_altitude()
{
if(g.rc_3.control_in <= 180){
if(g.rc_3.control_in <= (MINIMUM_THROTTLE + 100)){
// we remove 0 to 100 PWM from hover
manual_boost = g.rc_3.control_in - 180;
manual_boost = max(-120, manual_boost);
manual_boost = (g.rc_3.control_in - MINIMUM_THROTTLE) -100;
manual_boost = max(-100, manual_boost);
update_throttle_cruise();
}else if (g.rc_3.control_in >= 650){
}else if (g.rc_3.control_in >= (MAXIMUM_THROTTLE - 100)){
// we add 0 to 100 PWM to hover
manual_boost = g.rc_3.control_in - 650;
manual_boost = g.rc_3.control_in - (MAXIMUM_THROTTLE - 100);
manual_boost = min(100, manual_boost);
update_throttle_cruise();
}else {
manual_boost = 0;