diff options
Diffstat (limited to 'src/modules')
| -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; |