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AC_AttControl_Multi: get_althold_lean_angle_max uses motor thrust in 0 to 1 range

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Leonard Hall 2016-01-21 15:08:56 +09:00 committed by Randy Mackay
parent 24f975c16a
commit 6f29bbafb4
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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@ -8,14 +8,14 @@
float AC_AttitudeControl_Multi::get_althold_lean_angle_max() const
{
// calc maximum tilt angle based on throttle
float thr_max = _motors_multi.throttle_max();
float thr_max = _motors_multi.get_throttle_thrust_max();
// divide by zero check
if (is_zero(thr_max)) {
return 0.0f;
}
return ToDeg(acos(constrain_float(_throttle_in_filt.get()/(0.9f * thr_max / 1000.0f), 0.0f, 1000.0f) / 1000.0f)) * 100.0f;
return ToDeg(acos(constrain_float(_throttle_in_filt.get()/(0.9f * thr_max), 0.0f, 1.0f))) * 100.0f;
}
// returns a throttle including compensation for roll/pitch angle