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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-05-23 21:46:31 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-05-23 21:46:31 +0200 |
| commit | 3b509aaee4ac910db7b49815eef1f78261b85782 (patch) | |
| tree | bb839ef419243212a07df4ae350c69f0a76a5ca8 | |
| parent | b4a03d8de540f71232672427491e4eb6e6df9f3c (diff) | |
| parent | dc3b4966555db1d97a1afe27916ec718336c3357 (diff) | |
| download | px4-firmware-3b509aaee4ac910db7b49815eef1f78261b85782.tar.gz px4-firmware-3b509aaee4ac910db7b49815eef1f78261b85782.tar.bz2 px4-firmware-3b509aaee4ac910db7b49815eef1f78261b85782.zip | |
Merge branch 'master' into pwm_limits
| -rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index 4ad21d818..092c0e2b0 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -351,9 +351,9 @@ MultirotorMixer::mix(float *outputs, unsigned space) scale_out = 1.0f; } - /* scale outputs to range _idle_speed..1 */ + /* scale outputs to range _idle_speed..1, and do final limiting */ for (unsigned i = 0; i < _rotor_count; i++) { - outputs[i] = _idle_speed + (outputs[i] * (1.0f - _idle_speed) * scale_out); + outputs[i] = constrain(_idle_speed + (outputs[i] * (1.0f - _idle_speed) * scale_out), _idle_speed, 1.0f); } return _rotor_count; |