fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 01:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

mc_att_control_main: use gradual() for throttle curve rescale without hover thrust

Browse Source
This commit is contained in:
Matthias Grob
2022-08-11 14:18:54 +02:00
parent 7cb6a47714
commit 5b1b6f6080
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control/mc_att_control_main.cpp
+1 -1
View File
@@ -101,7 +101,7 @@ MulticopterAttitudeControl::throttle_curve(float throttle_stick_input)
// throttle_stick_input is in range [0, 1]
switch (_param_mpc_thr_curve.get()) {
case 1: // no rescaling to hover throttle
return throttle_min + throttle_stick_input * (_param_mpc_thr_max.get() - throttle_min);
return math::gradual(throttle_stick_input, 0.f, 1.f, throttle_min, _param_mpc_thr_max.get());
default: // 0 or other: rescale to hover throttle at 0.5 stick
return math::gradual3(throttle_stick_input,