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MotorsTri: fix output_armed_stabilized min thr limit

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_min_throttle is in the pwm range but was being used as if in the 0 to
1000 range
This commit is contained in:
Randy Mackay 2015-07-20 17:06:09 +09:00
parent e53c46bd8f
commit bd9a605086
1 changed files with 6 additions and 6 deletions
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12
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -150,10 +150,9 @@ void AP_MotorsTri::output_armed_not_stabilizing()
limit.throttle_lower = false; limit.throttle_lower = false;
limit.throttle_upper = false; limit.throttle_upper = false;
int16_t min_thr = rel_pwm_to_thr_range(_spin_when_armed_ramped); int16_t thr_in_min = rel_pwm_to_thr_range(_spin_when_armed_ramped);
if (_throttle_control_input <= thr_in_min) {
if (_throttle_control_input <= min_thr) { _throttle_control_input = thr_in_min;
_throttle_control_input = min_thr;
limit.throttle_lower = true; limit.throttle_lower = true;
} }
@ -203,8 +202,9 @@ void AP_MotorsTri::output_armed_stabilizing()
limit.throttle_upper = false; limit.throttle_upper = false;
// Throttle is 0 to 1000 only // Throttle is 0 to 1000 only
if (_throttle_control_input <= 0) { int16_t thr_in_min = rel_pwm_to_thr_range(_min_throttle);
_throttle_control_input = 0; if (_throttle_control_input <= thr_in_min) {
_throttle_control_input = thr_in_min;
limit.throttle_lower = true; limit.throttle_lower = true;
} }
if (_throttle_control_input >= _max_throttle) { if (_throttle_control_input >= _max_throttle) {