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Plane: honor TKOFF_THR_MAX in set_servos()

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fixes issue #1555
This commit is contained in:
Andrew Tridgell 2014-11-13 11:35:28 +11:00
parent c8060cb9f7
commit 58fd72944d
1 changed files with 5 additions and 1 deletions
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6
ArduPlane/Attitude.pde
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@ -813,12 +813,16 @@ static void set_servos(void)
#else
// convert 0 to 100% into PWM
uint8_t min_throttle = aparm.throttle_min.get();
uint8_t max_throttle = aparm.throttle_max.get();
if (control_mode == AUTO && flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL) {
min_throttle = 0;
}
if (control_mode == AUTO && flight_stage == AP_SpdHgtControl::FLIGHT_TAKEOFF) {
max_throttle = takeoff_throttle();
}
channel_throttle->servo_out = constrain_int16(channel_throttle->servo_out,
min_throttle,
aparm.throttle_max.get());
max_throttle);
if (suppress_throttle()) {
// throttle is suppressed in auto mode