From c620ba58dfc2fbbea03385bf69af21b9561e30f2 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Mon, 9 Jan 2023 16:33:49 +0000 Subject: [PATCH] AP_Motors: use _dt instead of loop rate for throttle slew calculation --- libraries/AP_Motors/AP_MotorsMulticopter.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.cpp b/libraries/AP_Motors/AP_MotorsMulticopter.cpp index ff40050ed31..73f2452a70c 100644 --- a/libraries/AP_Motors/AP_MotorsMulticopter.cpp +++ b/libraries/AP_Motors/AP_MotorsMulticopter.cpp @@ -314,7 +314,7 @@ void AP_MotorsMulticopter::update_throttle_filter() // calculate slope normalized from per-micro const float rate = fabsf(_throttle_slew.slope() * 1e6); - _throttle_slew_rate = _throttle_slew_filter.apply(rate, 1.0f / _loop_rate); + _throttle_slew_rate = _throttle_slew_filter.apply(rate, _dt); } // return current_limit as a number from 0 ~ 1 in the range throttle_min to throttle_max