AP_TECS: prevent numerical error with zero max throttle

2019-03-04 17:37:13 +11:00 · 2019-03-04 17:37:13 +11:00 · d72ded4a9e
commit d72ded4a9e
parent 587aa33617
1 changed files with 3 additions and 0 deletions
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@ -988,6 +988,9 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
    }
    _THRminf  = aparm.throttle_min * 0.01f;

+    // min of 1% throttle range to prevent a numerical error
+    _THRmaxf = MAX(_THRmaxf, _THRminf+0.01);
+
    // work out the maximum and minimum pitch
    // if TECS_PITCH_{MAX,MIN} isn't set then use
    // LIM_PITCH_{MAX,MIN}. Don't allow TECS_PITCH_{MAX,MIN} to be