Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-18 06:38:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: Resore old default behaviour for throttle curves

Browse Source 
The change in this made QStabilize behave very differently then it had,
which is quite shocking in a test flight.
This commit is contained in:
Michael du Breuil 2019-10-02 18:14:34 -07:00 committed by Andrew Tridgell
parent cb054e714b
commit f9580424f6
1 changed files with 9 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
ArduPlane/quadplane.cpp
View File

@ -982,12 +982,16 @@ float QuadPlane::get_pilot_throttle()
// normalize to [0,1] // normalize to [0,1]
throttle_in /= plane.channel_throttle->get_range(); throttle_in /= plane.channel_throttle->get_range();
// get hover throttle level [0,1] if (is_positive(throttle_expo)) {
float thr_mid = motors->get_throttle_hover(); // get hover throttle level [0,1]
float thrust_curve_expo = constrain_float(throttle_expo, 0.0f, 1.0f); float thr_mid = motors->get_throttle_hover();
float thrust_curve_expo = constrain_float(throttle_expo, 0.0f, 1.0f);
// this puts mid stick at hover throttle // this puts mid stick at hover throttle
return throttle_curve(thr_mid, thrust_curve_expo, throttle_in);; return throttle_curve(thr_mid, thrust_curve_expo, throttle_in);;
} else {
return throttle_in;
}
} }
/* /*