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Copter: bug fix for throttle after acro flip 

Throttle was kept a min if user switched out of ACRO mode while inverted
This commit is contained in:
Randy Mackay 2013-03-30 09:20:29 +09:00
parent 0c520f89d6
commit bcedf0f8a1
1 changed files with 5 additions and 2 deletions
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7
ArduCopter/Attitude.pde
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@ -737,9 +737,12 @@ static int16_t get_angle_boost(int16_t throttle)
int16_t throttle_out;
temp = constrain(temp, .5, 1.0);
temp = constrain(9000-max(labs(roll_axis),labs(pitch_axis)), 0, 3000) / (3000 * temp);
// reduce throttle if we go inverted
temp = constrain(9000-max(labs(ahrs.roll_sensor),labs(ahrs.pitch_sensor)), 0, 3000) / (3000 * temp);
// apply scale and constrain throttle
throttle_out = constrain((float)(throttle-g.throttle_min) * temp + g.throttle_min, g.throttle_min, 1000);
//Serial.printf("Thin:%4.2f sincos:%4.2f temp:%4.2f roll_axis:%4.2f Out:%4.2f \n", 1.0*throttle, 1.0*cos_pitch_x * cos_roll_x, 1.0*temp, 1.0*roll_axis, 1.0*constrain((float)value * temp, 0, 1000));
// to allow logging of angle boost
angle_boost = throttle_out - throttle;