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Fixed min value check, works for fixed wing now

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Lorenz Meier
2013-10-29 21:22:05 +01:00
parent 342a7bf55b
commit 2293aa4e0a
1 changed files with 1 additions and 1 deletions
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src/modules/systemlib/pwm_limit/pwm_limit.c
+1 -1
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@@ -100,7 +100,7 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
temp_pwm = output[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2;
/* already follow user/controller input if higher than min_pwm */
effective_pwm[i] = (disarmed_pwm[i]*(10000-progress) + (temp_pwm > min_pwm[i] ? temp_pwm : min_pwm[i])*progress)/10000;
effective_pwm[i] = (temp_pwm > min_pwm[i]) ? temp_pwm : ((disarmed_pwm[i]*(10000-progress) + min_pwm[i])*progress) / 10000;
output[i] = (float)progress/10000.0f * output[i];
}
break;