Copter: limit ATC_MOT_MIX_MAX in case of a fly away

6 years ago · eef916aa99
1 changed files with 1 additions and 1 deletions
--- a/ArduCopter/land_detector.cpp
+++ b/ArduCopter/land_detector.cpp
@ -176,7 +176,7 @@ void Copter::update_throttle_thr_mix()
        bool descent_not_demanded = pos_control->get_desired_velocity().z >= 0.0f;
        if ( large_angle_request || large_angle_error || accel_moving || descent_not_demanded) {
-            attitude_control->set_throttle_mix_max();
+            attitude_control->set_throttle_mix_max(pos_control->get_vel_z_control_ratio());
        } else {
            attitude_control->set_throttle_mix_min();
        }