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Copter: range check ACRO_EXPO to be no more than 1

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Randy Mackay 2014-08-18 12:56:22 +09:00
parent 7202aa00da
commit a31f30e6bd
1 changed files with 5 additions and 0 deletions
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5
ArduCopter/control_acro.pde
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@ -59,6 +59,11 @@ static void get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int
// expo variables // expo variables
float rp_in, rp_in3, rp_out; float rp_in, rp_in3, rp_out;
// range check expo
if (g.acro_expo > 1.0f) {
g.acro_expo = 1.0f;
}
// roll expo // roll expo
rp_in = float(roll_in)/ROLL_PITCH_INPUT_MAX; rp_in = float(roll_in)/ROLL_PITCH_INPUT_MAX;
rp_in3 = rp_in*rp_in*rp_in; rp_in3 = rp_in*rp_in*rp_in;