From 421253e6db6c5e716c84ac505a8caef679ea97ee Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sun, 21 Apr 2013 14:28:56 +1000
Subject: px4io: allow set of output rates above 400 and below 50

let the IO board decide if the rate is reasonable, and limit it there

this fixes the rates on ArduCopter, which try for 490
---
 src/drivers/px4io/px4io.cpp | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

(limited to 'src/drivers/px4io/px4io.cpp')

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 4c2f1736f..d8b5c51c4 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1336,11 +1336,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 
 	case PWM_SERVO_SET_UPDATE_RATE:
 		/* set the requested alternate rate */
-		if ((arg >= 50) && (arg <= 400)) {	/* TODO: we could go higher for e.g. TurboPWM */
-			ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg);
-		} else {
-			ret = -EINVAL;
-		}
+		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg);
 		break;
 
 	case PWM_SERVO_SELECT_UPDATE_RATE: {
-- 
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