diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-29 21:22:05 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-29 21:22:05 +0100 |
| commit | 2293aa4e0ae809e31ba1aa71492253460a5e3aab (patch) | |
| tree | 0e745103c2fb275836c663edfd7839c52f58ff16 | |
| parent | 342a7bf55b815241b98e775e16833ce5e9a48974 (diff) | |
| download | px4-firmware-2293aa4e0ae809e31ba1aa71492253460a5e3aab.tar.gz px4-firmware-2293aa4e0ae809e31ba1aa71492253460a5e3aab.tar.bz2 px4-firmware-2293aa4e0ae809e31ba1aa71492253460a5e3aab.zip | |
Fixed min value check, works for fixed wing now
| -rw-r--r-- | src/modules/systemlib/pwm_limit/pwm_limit.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.c b/src/modules/systemlib/pwm_limit/pwm_limit.c index 3187a4fa2..4cc618ddd 100644 --- a/src/modules/systemlib/pwm_limit/pwm_limit.c +++ b/src/modules/systemlib/pwm_limit/pwm_limit.c @@ -100,7 +100,7 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_ temp_pwm = output[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2; /* already follow user/controller input if higher than min_pwm */ - effective_pwm[i] = (disarmed_pwm[i]*(10000-progress) + (temp_pwm > min_pwm[i] ? temp_pwm : min_pwm[i])*progress)/10000; + effective_pwm[i] = (temp_pwm > min_pwm[i]) ? temp_pwm : ((disarmed_pwm[i]*(10000-progress) + min_pwm[i])*progress) / 10000; output[i] = (float)progress/10000.0f * output[i]; } break; |