aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

MotorsCoax: fix output_armed_stabilized min thr limit

Browse Source
This commit is contained in:
Randy Mackay 2015-07-20 17:06:59 +09:00
parent 8a308205ce
commit fa60c3dce8
1 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_Motors/AP_MotorsCoax.cpp
View File

@ -178,8 +178,9 @@ void AP_MotorsCoax::output_armed_stabilizing()
limit.throttle_lower = false; limit.throttle_lower = false;
limit.throttle_upper = false; limit.throttle_upper = false;
if (_throttle_control_input <= _min_throttle) { int16_t thr_in_min = rel_pwm_to_thr_range(_min_throttle);
_throttle_control_input = _min_throttle; if (_throttle_control_input <= thr_in_min) {
_throttle_control_input = thr_in_min;
limit.throttle_lower = true; limit.throttle_lower = true;
} }
if (_throttle_control_input >= _max_throttle) { if (_throttle_control_input >= _max_throttle) {