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Copter: fixed motor test with percentage

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use motors min/max pwm, not throttle channel range
This commit is contained in:
Andrew Tridgell 2016-05-26 14:34:27 +10:00
parent 65eb9ceb32
commit c605f09859
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/motor_test.cpp
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@ -39,9 +39,9 @@ void Copter::motor_test_output()
case MOTOR_TEST_THROTTLE_PERCENT:
// sanity check motor_test_throttle value
if (motor_test_throttle_value <= 100) {
pwm = channel_throttle->get_radio_min()
+ (channel_throttle->get_radio_max() - channel_throttle->get_radio_min())
* (float)motor_test_throttle_value/100.0f;
int16_t pwm_min = motors.get_pwm_output_min();
int16_t pwm_max = motors.get_pwm_output_max();
pwm = pwm_min + (pwm_max - pwm_min) * (float)motor_test_throttle_value/100.0f;
}
break;