mirror of https://github.com/ArduPilot/ardupilot
Copter: manual throttle scaling fix
Scaling of bottom half of throttle was changed from THR_MIN ~ 500. Previously it was from 0 ~ 500.
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@ -853,7 +853,7 @@ static int16_t get_pilot_desired_throttle(int16_t throttle_control)
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// check throttle is above, below or in the deadband
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if (throttle_control < THROTTLE_IN_MIDDLE) {
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// below the deadband
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throttle_out = (float)throttle_control * (float)g.throttle_mid / 500.0f;
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throttle_out = g.throttle_min + ((float)(throttle_control-g.throttle_min))*((float)(g.throttle_mid - g.throttle_min))/((float)(500-g.throttle_min));
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}else if(throttle_control > THROTTLE_IN_MIDDLE) {
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// above the deadband
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throttle_out = g.throttle_mid + ((float)(throttle_control-500))*(float)(1000-g.throttle_mid)/500.0f;
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