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SITL: make multicopter motors only effective above 10%

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This commit is contained in:
Andrew Tridgell 2016-04-02 22:45:05 +11:00
parent 6bff07397e
commit 7dcd17a2fa
1 changed files with 1 additions and 1 deletions
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2
libraries/SITL/SIM_Multicopter.cpp
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@ -149,7 +149,7 @@ void Frame::calculate_forces(const Aircraft &aircraft,
float thrust = 0.0f; // newtons
for (uint8_t i=0; i<num_motors; i++) {
float motor_speed = constrain_float((input.servos[motor_offset+motors[i].servo]-1000)/1000.0, 0, 1);
float motor_speed = constrain_float((input.servos[motor_offset+motors[i].servo]-1100)/900.0, 0, 1);
rot_accel.x += -radians(5000.0) * sinf(radians(motors[i].angle)) * motor_speed;
rot_accel.y += radians(5000.0) * cosf(radians(motors[i].angle)) * motor_speed;
rot_accel.z += motors[i].yaw_factor * motor_speed * radians(400.0);