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Copter: tidy get_pilot_desired_throttle

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Peter Barker 2019-03-27 11:55:18 +11:00 committed by Peter Barker
parent 74e4a7047f
commit e9398e73ff
1 changed files with 1 additions and 6 deletions
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7
ArduCopter/mode.cpp
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@ -586,14 +586,9 @@ float Copter::Mode::get_pilot_desired_throttle() const
// calculate normalised throttle input
float throttle_in;
if (throttle_control < mid_stick) {
// below the deadband
throttle_in = ((float)throttle_control)*0.5f/(float)mid_stick;
} else if (throttle_control > mid_stick) {
// above the deadband
throttle_in = 0.5f + ((float)(throttle_control-mid_stick)) * 0.5f / (float)(1000-mid_stick);
} else {
// must be in the deadband
throttle_in = 0.5f;
throttle_in = 0.5f + ((float)(throttle_control-mid_stick)) * 0.5f / (float)(1000-mid_stick);
}
float expo = constrain_float(-(thr_mid-0.5)/0.375, -0.5f, 1.0f);