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AC_AttitudeControl: set throttle vs attitude priority for flipped state

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When performing a flip we want to allow throttle to go high to provide
maximum attitude control
This commit is contained in:
Leonard Hall 2016-05-22 20:54:04 +09:30 committed by Randy Mackay
parent 1fb4c12cd0
commit ca2977decf
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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@ -174,7 +174,7 @@ void AC_AttitudeControl_Multi::set_throttle_out(float throttle_in, bool apply_an
_angle_boost = 0.0f;
}
_motors.set_throttle(throttle_in);
_motors.set_throttle_ave_max(get_throttle_ave_max(throttle_in));
_motors.set_throttle_ave_max(get_throttle_ave_max(MAX(throttle_in, _throttle_in)));
}
// returns a throttle including compensation for roll/pitch angle