From 39f3934ce39bd6a77137ecee5bef2fff8e7c4ea3 Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Tue, 7 Feb 2017 22:23:50 +0100 Subject: [PATCH] Decouple throttle from min_throttle and max_throttle for altitude hold --- src/main/flight/altitudehold.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/flight/altitudehold.c b/src/main/flight/altitudehold.c index 9689b24b69..954ae59b11 100644 --- a/src/main/flight/altitudehold.c +++ b/src/main/flight/altitudehold.c @@ -93,7 +93,7 @@ static void applyMultirotorAltHold(void) AltHold = EstAlt; isAltHoldChanged = 0; } - rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, motorConfig->minthrottle, motorConfig->maxthrottle); + rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, PWM_RANGE_MIN, PWM_RANGE_MAX); } } else { // slow alt changes, mostly used for aerial photography @@ -107,7 +107,7 @@ static void applyMultirotorAltHold(void) velocityControl = 0; isAltHoldChanged = 0; } - rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, motorConfig->minthrottle, motorConfig->maxthrottle); + rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, PWM_RANGE_MIN, PWM_RANGE_MAX); } }