From 000434be15c9ac8a93fa0e675f790464d8b5d23e Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 11 Jun 2015 14:51:49 +0200
Subject: [PATCH] IO mixer: Limit outputs to proper range

---
 src/modules/px4iofirmware/mixer.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 9fadec57c0..5e6a3a585a 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -353,6 +353,13 @@ mixer_callback(uintptr_t handle,
 		return -1;
 	}
 
+	/* limit output */
+	if (control > 1.0f) {
+		control = 1.0f;
+	} else if (control < -1.0f) {
+		control = -1.0f;
+	}
+
 	return 0;
 }