From 635a7533b487389bed27e429fb6baf936f7bb3b8 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 22 May 2014 19:04:04 +0200 Subject: mc mixer: additional safe limiting of mixed out --- src/modules/systemlib/mixer/mixer_multirotor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/modules') diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index 4ad21d818..092c0e2b0 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -351,9 +351,9 @@ MultirotorMixer::mix(float *outputs, unsigned space) scale_out = 1.0f; } - /* scale outputs to range _idle_speed..1 */ + /* scale outputs to range _idle_speed..1, and do final limiting */ for (unsigned i = 0; i < _rotor_count; i++) { - outputs[i] = _idle_speed + (outputs[i] * (1.0f - _idle_speed) * scale_out); + outputs[i] = constrain(_idle_speed + (outputs[i] * (1.0f - _idle_speed) * scale_out), _idle_speed, 1.0f); } return _rotor_count; -- cgit v1.2.3