AC_AttitudeControl: set throttle vs attitude priority for flipped state

When performing a flip we want to allow throttle to go high to provide maximum attitude control
9 years ago · ca2977decf
1 changed files with 1 additions and 1 deletions
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
@ -174,7 +174,7 @@ void AC_AttitudeControl_Multi::set_throttle_out(float throttle_in, bool apply_an
				@@ -174,7 +174,7 @@ void AC_AttitudeControl_Multi::set_throttle_out(float throttle_in, bool apply_an
        _angle_boost = 0.0f;
    }
    _motors.set_throttle(throttle_in);
-    _motors.set_throttle_ave_max(get_throttle_ave_max(throttle_in));
+    _motors.set_throttle_ave_max(get_throttle_ave_max(MAX(throttle_in, _throttle_in)));
 }

 // returns a throttle including compensation for roll/pitch angle