diff options
Diffstat (limited to 'apps/systemlib/mixer/mixer_multirotor.cpp')
| -rw-r--r-- | apps/systemlib/mixer/mixer_multirotor.cpp | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/apps/systemlib/mixer/mixer_multirotor.cpp index e2576a848..0e714ed50 100644 --- a/apps/systemlib/mixer/mixer_multirotor.cpp +++ b/apps/systemlib/mixer/mixer_multirotor.cpp @@ -57,7 +57,7 @@ #define CW (-1.0f) #define CCW (1.0f) -namespace +namespace { /* @@ -167,17 +167,21 @@ MultirotorMixer::mix(float *outputs, unsigned space) pitch * _rotors[i].pitch_scale + yaw * _rotors[i].yaw_scale + thrust; + if (tmp > max) max = tmp; + outputs[i] = tmp; } /* scale values into the -1.0 - 1.0 range */ if (max > 1.0f) { fixup_scale = 2.0f / max; + } else { fixup_scale = 2.0f; } + for (unsigned i = 0; i < _rotor_count; i++) outputs[i] = -1.0f + (outputs[i] * fixup_scale); |