From 53f021626920d2bef310265aa120e9bae2591bc7 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 12 Jul 2016 21:46:35 +0900 Subject: [PATCH] Copter: sport - fix call to relax_alt_hold_controller --- ArduCopter/control_sport.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/control_sport.cpp b/ArduCopter/control_sport.cpp index 232428743c..d0bc7e08d5 100644 --- a/ArduCopter/control_sport.cpp +++ b/ArduCopter/control_sport.cpp @@ -36,7 +36,7 @@ void Copter::sport_run() if (!motors.armed() || ap.throttle_zero || !motors.get_interlock()) { motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); - pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover()); + pos_control.relax_alt_hold_controllers(0.0f); return; } @@ -99,7 +99,7 @@ void Copter::sport_run() } // move throttle to between minimum and non-takeoff-throttle to keep us on the ground attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->get_control_in()),false,g.throttle_filt); - pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->get_control_in())-motors.get_throttle_hover()); + pos_control.relax_alt_hold_controllers(0.0f); }else{ // set motors to full range motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);