Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Rover: remove throttle scaling dependency on throttle range

This commit is contained in:
Randy Mackay 2018-03-26 19:07:31 +09:00
parent fa20fd695f
commit c05d239069
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
APMrover2/AP_MotorsUGV.cpp
View File

@ -472,7 +472,7 @@ void AP_MotorsUGV::slew_limit_throttle(float dt)
{ {
if (_slew_rate > 0) { if (_slew_rate > 0) {
// slew throttle // slew throttle
const float throttle_change_max = MAX(1.0f, _slew_rate * dt * 0.01f * (_throttle_max - _throttle_min)); const float throttle_change_max = MAX(1.0f, (float)_slew_rate * dt);
if (_throttle > _throttle_prev + throttle_change_max) { if (_throttle > _throttle_prev + throttle_change_max) {
_throttle = _throttle_prev + throttle_change_max; _throttle = _throttle_prev + throttle_change_max;
limit.throttle_upper = true; limit.throttle_upper = true;