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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-23 11:04:40 -0700 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-23 11:04:40 -0700 |
| commit | dc3b4966555db1d97a1afe27916ec718336c3357 (patch) | |
| tree | 82188d8ce01257bfd28217b0a5a1bd8cbe255e67 | |
| parent | 69421be983c7dcd87d00df3022f8f319b0bb7365 (diff) | |
| parent | 635a7533b487389bed27e429fb6baf936f7bb3b8 (diff) | |
| download | px4-firmware-dc3b4966555db1d97a1afe27916ec718336c3357.tar.gz px4-firmware-dc3b4966555db1d97a1afe27916ec718336c3357.tar.bz2 px4-firmware-dc3b4966555db1d97a1afe27916ec718336c3357.zip | |
Merge pull request #997 from PX4/mc_mix_safe_limit
mc mixer: additional safe limiting of mixed out
| -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; |