From f1d8aa57ce9854920c9408c78be3abdc064b4b9d Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Thu, 21 Mar 2013 01:12:01 +0100 Subject: Ensure that numerator / demoninator <= 1. --- apps/px4io/controls.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'apps') diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c index e80a41f15..dc36f6c93 100644 --- a/apps/px4io/controls.c +++ b/apps/px4io/controls.c @@ -177,7 +177,7 @@ controls_tick() { scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); } else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); + scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); } else { /* in the configured dead zone, output zero */ -- cgit v1.2.3