AC_AttitudeControlHeli: fix update_althold_lean_angle_max

9 years ago · 9bd8878c8b
1 changed files with 1 additions and 1 deletions
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
@ -236,7 +236,7 @@ void AC_AttitudeControl_Heli::rate_controller_run()
				@@ -236,7 +236,7 @@ void AC_AttitudeControl_Heli::rate_controller_run()
 void AC_AttitudeControl_Heli::update_althold_lean_angle_max(float throttle_in)
 {
    float althold_lean_angle_max = acos(constrain_float(_throttle_in/AC_ATTITUDE_CONTROL_ANGLE_LIMIT_THROTTLE_MAX, 0.0f, 1.0f));
-    _althold_lean_angle_max = _althold_lean_angle_max + (_dt/(_dt+_angle_limit_tc))*(_throttle_in-_althold_lean_angle_max);
+    _althold_lean_angle_max = _althold_lean_angle_max + (_dt/(_dt+_angle_limit_tc))*(althold_lean_angle_max-_althold_lean_angle_max);
 }

 //