From ba3796ebaf0c109e8e09b60c3b00e0701952f3e3 Mon Sep 17 00:00:00 2001 From: Sander Smeets Date: Thu, 22 Dec 2016 01:12:15 +0100 Subject: [PATCH] Work with double scaling --- src/modules/fw_att_control/fw_att_control_main.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) 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 cad93bc788..b86ae7f713 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -1147,8 +1147,9 @@ FixedwingAttitudeControl::task_main() throttle_sp : 0.0f; /* scale effort by battery status */ - if (_parameters.bat_scale_en && _battery_status.scale > 0.0f) { - _actuators.control[actuator_controls_s::INDEX_THROTTLE] *= _battery_status.scale; + 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); }