From 57b3b47f3d434bbcdf3b13efc31ccbfdce644130 Mon Sep 17 00:00:00 2001
From: Max <Hunt>
Date: Tue, 21 Sep 2021 17:55:01 +0100
Subject: [PATCH] Update

---
 Control/Pi/dronekit_class.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Control/Pi/dronekit_class.py b/Control/Pi/dronekit_class.py
index 8baedd8..bf235df 100644
--- a/Control/Pi/dronekit_class.py
+++ b/Control/Pi/dronekit_class.py
@@ -139,7 +139,7 @@ class DroneInterface:
             self.log.error(f"Error in verify_compass: {e}")
             return False
 
-    def throttle_limiter(self, throttle, upper=1940, lower=1060):
+    def throttle_limiter(self, throttle, upper=1970, lower=1060):
         if throttle > upper:
             throttle = upper
         if throttle < lower:
@@ -354,7 +354,7 @@ class DroneInterface:
                 error = error * proportional * integral * derivative
                 steering = remap(error, -90, 90, 1000, 2000)
                 self.log.warning(f"Bearing: {bearing_to_target}, Heading: {current_heading}, Error: {error}, Steering: {steering}")
-                self.set_vehicle_steering_and_speed(steering, 1910)
+                self.set_vehicle_steering_and_speed(steering, 1940)
                 time.sleep(0.3)
         else:
             self.log.error("Incorrect vehicle State!")