AP_Motors: fix bug found during review

3drobotics · Sep 19, 2016 · 696a95c · 696a95c
1 parent e79654d
commit 696a95c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -205,7 +205,7 @@ void AP_MotorsMatrix::output_armed_stabilizing(bool thrust_priority, bool reduce
 
     // Use the yaw headroom scaler to lift the min pwm
     int16_t min_pwm_lift = (int16_t)(((float)(_hover_out - _min_throttle)) * (1.0f - _yaw_headroom_scaler) * _thr_pty_min_pwm_gain);
-    min_pwm_lift = min(max(min_pwm_lift,0),_hover_out);
+    min_pwm_lift = min(max(min_pwm_lift,0),(_hover_out - _min_throttle));
     out_min_pwm += min_pwm_lift;
 
     int16_t out_mid_pwm = (out_min_pwm+out_max_pwm)/2;                  // mid pwm value we can send to the motors