From 287973da2837584e5f52c21ce599db913d1685c7 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 23 May 2014 20:22:26 +0200
Subject: pwm_limit: Do proper band limiting

---
 src/modules/systemlib/pwm_limit/pwm_limit.c | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.c b/src/modules/systemlib/pwm_limit/pwm_limit.c
index 190b315f1..de2caf143 100644
--- a/src/modules/systemlib/pwm_limit/pwm_limit.c
+++ b/src/modules/systemlib/pwm_limit/pwm_limit.c
@@ -142,6 +142,13 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
 		case PWM_LIMIT_STATE_ON:
 			for (unsigned i=0; i<num_channels; i++) {
 				effective_pwm[i] = output[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2;
+
+				/* last line of defense against invalid inputs */
+				if (effective_pwm[i] < min_pwm[i]) {
+					effective_pwm[i] = min_pwm[i];
+				} else if (effective_pwm[i] > max_pwm[i]) {
+					effective_pwm[i] = max_pwm[i];
+				}
 			}
 			break;
 		default:
-- 
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