Fix scale application on FW throttle baro compensation

PX4 · Mar 19, 2018 · d87b7ac · d87b7ac
1 parent b6b7fdd
commit d87b7ac
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -1866,7 +1866,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
 			if (PX4_ISFINITE(baro.pressure) && PX4_ISFINITE(_parameters.throttle_alt_scale)) {
 				// scale throttle as a function of sqrt(p0/p) (~ EAS -> TAS at low speeds and altitudes ignoring temperature)
 				const float eas2tas = sqrtf(MSL_PRESSURE_MILLIBAR / baro.pressure);
-				const float scale = constrain(eas2tas * _parameters.throttle_alt_scale, 0.9f, 2.0f);
+				const float scale = constrain((eas2tas - 1.0f) * _parameters.throttle_alt_scale + 1.0f, 1.0f, 2.0f);
 
 				throttle_max = constrain(throttle_max * scale, throttle_min, 1.0f);
 				throttle_cruise = constrain(throttle_cruise * scale, throttle_min + 0.01f, throttle_max - 0.01f);

diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -98,7 +98,7 @@ PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.6f);
  * The default value of 0 will disable scaling.
  *
  * @min 0.0
- * @max 2.0
+ * @max 10.0
  * @decimal 1
  * @increment 0.1
  * @group FW L1 Control