AP_Motors: handle boost in spool up and down the same way

6 years ago · 2f87d8808f
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_Motors/AP_MotorsMulticopter.cpp
+++ b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
@ -532,7 +532,7 @@ void AP_MotorsMulticopter::output_logic()
				@@ -532,7 +532,7 @@ void AP_MotorsMulticopter::output_logic()

            // initialise motor failure variables
            _thrust_boost = false;
-            _thrust_boost_ratio = 0.0f;
+            _thrust_boost_ratio = MAX(0.0, _thrust_boost_ratio - 1.0 / (_spool_up_time * _loop_rate));
            break;

        case THROTTLE_UNLIMITED: