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Copter: limit ATC_MOT_MIX_MAX in case of a fly away

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Leonard Hall 2019-06-18 01:07:08 +09:30 committed by Randy Mackay
parent 3ca713fdcb
commit e7f94fc810
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/land_detector.cpp
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@ -176,7 +176,7 @@ void Copter::update_throttle_thr_mix()
bool descent_not_demanded = pos_control->get_desired_velocity().z >= 0.0f; bool descent_not_demanded = pos_control->get_desired_velocity().z >= 0.0f;
if ( large_angle_request || large_angle_error || accel_moving || descent_not_demanded) { if ( large_angle_request || large_angle_error || accel_moving || descent_not_demanded) {
attitude_control->set_throttle_mix_max(); attitude_control->set_throttle_mix_max(pos_control->get_vel_z_control_ratio());
} else { } else {
attitude_control->set_throttle_mix_min(); attitude_control->set_throttle_mix_min();
} }