AC_PosControl: relax_alt_hold_controllers accepts throttle in 0 to 1 range

9 years ago · c64a505906
1 changed files with 1 additions and 1 deletions
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@ -241,7 +241,7 @@ void AC_PosControl::relax_alt_hold_controllers(float throttle_setting)
				@@ -241,7 +241,7 @@ void AC_PosControl::relax_alt_hold_controllers(float throttle_setting)
    _accel_last_z_cms = 0.0f;
    _accel_target.z = -(_ahrs.get_accel_ef_blended().z + GRAVITY_MSS) * 100.0f;
    _flags.reset_accel_to_throttle = true;
-    _pid_accel_z.set_integrator(throttle_setting);
+    _pid_accel_z.set_integrator(throttle_setting*1000.0f);
 }

 // get_alt_error - returns altitude error in cm