Copter: fix tuning knob rate control of winch

7 years ago · 47bbf49aa6
1 changed files with 4 additions and 4 deletions
--- a/ArduCopter/tuning.cpp
+++ b/ArduCopter/tuning.cpp
@ -215,11 +215,11 @@ void Copter::tuning() {
				@@ -215,11 +215,11 @@ void Copter::tuning() {

     case TUNING_WINCH: {
         float desired_rate = 0.0f;
-         if (v > 0.8f) {
-             desired_rate = g2.winch.get_rate_max();
+         if (v > 0.6f) {
+             desired_rate = g2.winch.get_rate_max() * (v - 0.6f) / 0.4f;
         }
-         if (v < 0.2f) {
-             desired_rate = -g2.winch.get_rate_max();
+         if (v < 0.4f) {
+             desired_rate = g2.winch.get_rate_max() * (v - 0.4) / 0.4f;
         }
         g2.winch.set_desired_rate(desired_rate);
         break;