APM_Control: fixed test condition in AR_AttutudeControl.cpp

7 years ago · ce182fd307
1 changed files with 1 additions and 1 deletions
--- a/libraries/APM_Control/AR_AttitudeControl.cpp
+++ b/libraries/APM_Control/AR_AttitudeControl.cpp
@ -503,7 +503,7 @@ float AR_AttitudeControl::get_throttle_out_from_pitch(float desired_pitch, bool
				@@ -503,7 +503,7 @@ float AR_AttitudeControl::get_throttle_out_from_pitch(float desired_pitch, bool
    const uint32_t now = AP_HAL::millis();

    // if not called recently, reset input filter
-    if ((_balance_last_ms == 0) || ((now - _balance_last_ms) > (AR_ATTCONTROL_TIMEOUT_MS / 1000.0f))) {
+    if ((_balance_last_ms == 0) || ((now - _balance_last_ms) > (AR_ATTCONTROL_TIMEOUT_MS))) {
        _pitch_to_throttle_pid.reset_filter();
    } else {
        _pitch_to_throttle_pid.set_dt(dt);