mirror of https://github.com/ArduPilot/ardupilot
MotorsTri: fix output_armed_stabilized min thr limit
_min_throttle is in the pwm range but was being used as if in the 0 to 1000 range
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@ -150,10 +150,9 @@ void AP_MotorsTri::output_armed_not_stabilizing()
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limit.throttle_lower = false;
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limit.throttle_upper = false;
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int16_t min_thr = rel_pwm_to_thr_range(_spin_when_armed_ramped);
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if (_throttle_control_input <= min_thr) {
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_throttle_control_input = min_thr;
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int16_t thr_in_min = rel_pwm_to_thr_range(_spin_when_armed_ramped);
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if (_throttle_control_input <= thr_in_min) {
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_throttle_control_input = thr_in_min;
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limit.throttle_lower = true;
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}
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@ -203,8 +202,9 @@ void AP_MotorsTri::output_armed_stabilizing()
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limit.throttle_upper = false;
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// Throttle is 0 to 1000 only
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if (_throttle_control_input <= 0) {
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_throttle_control_input = 0;
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int16_t thr_in_min = rel_pwm_to_thr_range(_min_throttle);
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if (_throttle_control_input <= thr_in_min) {
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_throttle_control_input = thr_in_min;
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limit.throttle_lower = true;
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}
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if (_throttle_control_input >= _max_throttle) {
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