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Copter: constrain throttle before setting deadband

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Ryan Birmingham 2021-03-09 23:32:53 -05:00 committed by Randy Mackay
parent aa75fc2c3d
commit c2cdb00f85
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/Attitude.cpp
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@ -84,17 +84,17 @@ float Copter::get_pilot_desired_climb_rate(float throttle_control)
} }
#endif #endif
float desired_rate = 0.0f;
float mid_stick = get_throttle_mid();
float deadband_top = mid_stick + g.throttle_deadzone;
float deadband_bottom = mid_stick - g.throttle_deadzone;
// ensure a reasonable throttle value // ensure a reasonable throttle value
throttle_control = constrain_float(throttle_control,0.0f,1000.0f); throttle_control = constrain_float(throttle_control,0.0f,1000.0f);
// ensure a reasonable deadzone // ensure a reasonable deadzone
g.throttle_deadzone = constrain_int16(g.throttle_deadzone, 0, 400); g.throttle_deadzone = constrain_int16(g.throttle_deadzone, 0, 400);
float desired_rate = 0.0f;
const float mid_stick = get_throttle_mid();
const float deadband_top = mid_stick + g.throttle_deadzone;
const float deadband_bottom = mid_stick - g.throttle_deadzone;
// check throttle is above, below or in the deadband // check throttle is above, below or in the deadband
if (throttle_control < deadband_bottom) { if (throttle_control < deadband_bottom) {
// below the deadband // below the deadband