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Plane: quadplane for fwd_throttle integrator inhibit reverse thrust and allow min>0 for petrol

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This commit is contained in:
Tom Pittenger 2016-06-13 14:31:50 -07:00
parent b6196dfa92
commit 773962940c
1 changed files with 3 additions and 2 deletions
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5
ArduPlane/quadplane.cpp
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@ -1727,8 +1727,9 @@ int8_t QuadPlane::forward_throttle_pct(void)
// integrator as throttle percentage (-100 to 100)
vel_forward.integrator += fwd_vel_error * deltat * vel_forward.gain * 100;
// constrain to throttle range. This allows for reverse throttle if configured
vel_forward.integrator = constrain_float(vel_forward.integrator, MIN(0,plane.aparm.throttle_min), plane.aparm.throttle_max);
// inhibit reverse throttle and allow petrol engines with min > 0
int8_t fwd_throttle_min = (plane.aparm.throttle_min <= 0) ? 0 : plane.aparm.throttle_min;
vel_forward.integrator = constrain_float(vel_forward.integrator, fwd_throttle_min, plane.aparm.throttle_max);
// If we are below alt_cutoff then scale down the effect until it turns off at alt_cutoff and decay the integrator
float alt_cutoff = MAX(0,vel_forward_alt_cutoff);