AP_Motors: use _dt instead of loop rate for throttle slew calculation

2023-01-09 16:33:49 +00:00 · 2023-01-09 16:33:49 +00:00 · c620ba58df
commit c620ba58df
parent 80fb33fb8b
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_Motors/AP_MotorsMulticopter.cpp
+++ b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
@ -314,7 +314,7 @@ void AP_MotorsMulticopter::update_throttle_filter()

    // calculate slope normalized from per-micro
    const float rate = fabsf(_throttle_slew.slope() * 1e6);
-    _throttle_slew_rate = _throttle_slew_filter.apply(rate, 1.0f / _loop_rate);
+    _throttle_slew_rate = _throttle_slew_filter.apply(rate, _dt);
 }

 // return current_limit as a number from 0 ~ 1 in the range throttle_min to throttle_max