diff options
Diffstat (limited to 'src/modules/systemlib/pwm_limit/pwm_limit.c')
| -rw-r--r-- | src/modules/systemlib/pwm_limit/pwm_limit.c | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.c b/src/modules/systemlib/pwm_limit/pwm_limit.c index de2caf143..ea5ba9e52 100644 --- a/src/modules/systemlib/pwm_limit/pwm_limit.c +++ b/src/modules/systemlib/pwm_limit/pwm_limit.c @@ -136,6 +136,13 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_ } effective_pwm[i] = output[i] * (max_pwm[i] - ramp_min_pwm)/2 + (max_pwm[i] + ramp_min_pwm)/2; + + /* last line of defense against invalid inputs */ + if (effective_pwm[i] < ramp_min_pwm) { + effective_pwm[i] = ramp_min_pwm; + } else if (effective_pwm[i] > max_pwm[i]) { + effective_pwm[i] = max_pwm[i]; + } } } break; |