From 8defe7e7d94e7544ab68f8bed24e4bd9fa4d5841 Mon Sep 17 00:00:00 2001 From: Sander Smeets Date: Thu, 22 Dec 2016 14:05:45 +0100 Subject: [PATCH] Revert scaling change --- src/modules/fw_att_control/fw_att_control_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index b86ae7f713..73eb5b3583 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -1149,7 +1149,7 @@ FixedwingAttitudeControl::task_main() /* scale effort by battery status */ if (_parameters.bat_scale_en && _battery_status.scale > 0.0f && _actuators.control[actuator_controls_s::INDEX_THROTTLE] > 0.1f) { - _actuators.control[actuator_controls_s::INDEX_THROTTLE] += (_battery_status.scale - 1); + _actuators.control[actuator_controls_s::INDEX_THROTTLE] *= _battery_status.scale; }