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Widen pusher throttle constraint

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sanderux 2017-08-13 22:02:04 +02:00 committed by Sander Smeets
parent e5a55cd142
commit 01d9212a29
1 changed files with 1 additions and 1 deletions
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2
src/modules/vtol_att_control/standard.cpp
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@ -355,7 +355,7 @@ void Standard::update_transition_state()
if (_params_handles_standard.reverse_output > FLT_EPSILON) {
_pusher_throttle = _params_standard.reverse_throttle * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) /
(_params_standard.front_trans_dur * 1000000.0f);
_pusher_throttle = math::constrain(_pusher_throttle, 0.0f, _params_standard.reverse_throttle);
_pusher_throttle = math::constrain(_pusher_throttle, -1.0f, _params_standard.reverse_throttle);
}
// continually increase mc attitude control as we transition back to mc mode