AR_AttitudeControl: get_throttle_out_speed uses timeout definition

7 years ago · 1bb18bc941
1 changed files with 1 additions and 1 deletions
--- a/libraries/APM_Control/AR_AttitudeControl.cpp
+++ b/libraries/APM_Control/AR_AttitudeControl.cpp
@ -320,7 +320,7 @@ float AR_AttitudeControl::get_throttle_out_speed(float desired_speed, bool motor
				@@ -320,7 +320,7 @@ float AR_AttitudeControl::get_throttle_out_speed(float desired_speed, bool motor
    // calculate dt
    const uint32_t now = AP_HAL::millis();
    float dt = (now - _speed_last_ms) / 1000.0f;
-    if (_speed_last_ms == 0 || dt > 0.1f) {
+    if ((_speed_last_ms == 0) || (dt > (AR_ATTCONTROL_TIMEOUT_MS / 1000.0f))) {
        dt = 0.0f;
        _throttle_speed_pid.reset_filter();
    } else {