AC_PosControl: accel_to_throttle outputs 0 to 1

9 years ago · 15be80a25d
1 changed files with 1 additions and 1 deletions
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@ -480,7 +480,7 @@ void AC_PosControl::accel_to_throttle(float accel_target_z)
    // get d term
    d = _pid_accel_z.get_d();
-    float thr_out = p+i+d+_throttle_hover;
+    float thr_out = (p+i+d)/1000.0f +_throttle_hover;
    // send throttle to attitude controller with angle boost
    _attitude_control.set_throttle_out(thr_out, true, POSCONTROL_THROTTLE_CUTOFF_FREQ);