From bcedf0f8a13ffa3cab155ea6732ac11383c39769 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 30 Mar 2013 09:20:29 +0900
Subject: [PATCH] Copter: bug fix for throttle after acro flip
Throttle was kept a min if user switched out of ACRO mode while inverted
---
ArduCopter/Attitude.pde | 7 +++++--
1 file changed, 5 insertions(+), 2 deletions(-)
diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 4258bc5a0..9896ab103 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -737,9 +737,12 @@ static int16_t get_angle_boost(int16_t throttle)
int16_t throttle_out;
temp = constrain(temp, .5, 1.0);
- temp = constrain(9000-max(labs(roll_axis),labs(pitch_axis)), 0, 3000) / (3000 * temp);
+
+ // reduce throttle if we go inverted
+ temp = constrain(9000-max(labs(ahrs.roll_sensor),labs(ahrs.pitch_sensor)), 0, 3000) / (3000 * temp);
+
+ // apply scale and constrain throttle
throttle_out = constrain((float)(throttle-g.throttle_min) * temp + g.throttle_min, g.throttle_min, 1000);
- //Serial.printf("Thin:%4.2f sincos:%4.2f temp:%4.2f roll_axis:%4.2f Out:%4.2f \n", 1.0*throttle, 1.0*cos_pitch_x * cos_roll_x, 1.0*temp, 1.0*roll_axis, 1.0*constrain((float)value * temp, 0, 1000));
// to allow logging of angle boost
angle_boost = throttle_out - throttle;
--
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