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MotorsCoax: fix output_armed_stabilized min thr limit

This commit is contained in:
Randy Mackay 2015-07-20 17:06:59 +09:00
parent 8a308205ce
commit fa60c3dce8
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_Motors/AP_MotorsCoax.cpp
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@ -178,8 +178,9 @@ void AP_MotorsCoax::output_armed_stabilizing()
limit.throttle_lower = false;
limit.throttle_upper = false;
if (_throttle_control_input <= _min_throttle) {
_throttle_control_input = _min_throttle;
int16_t thr_in_min = rel_pwm_to_thr_range(_min_throttle);
if (_throttle_control_input <= thr_in_min) {
_throttle_control_input = thr_in_min;
limit.throttle_lower = true;
}
if (_throttle_control_input >= _max_throttle) {