AC_PosControl: don't limit throttle any more

10 years ago · d14893fcd5
1 changed files with 1 additions and 2 deletions
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@ -380,8 +380,7 @@ void AC_PosControl::accel_to_throttle(float accel_target_z)
				@@ -380,8 +380,7 @@ void AC_PosControl::accel_to_throttle(float accel_target_z)
    // get d term
    d = _pid_accel_z.get_d();

-    // ensure throttle is above zero (or motors lib will stop stabilizing)
-    int16_t thr_out = max((int16_t)p+i+d+_throttle_hover,1);
+    int16_t thr_out = (int16_t)p+i+d+_throttle_hover;

    // send throttle to attitude controller with angle boost
    _attitude_control.set_throttle_out(thr_out, true);