fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-13 01:00:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

pwm_limit: Do proper band limiting

Browse Source
This commit is contained in:
Lorenz Meier
2014-05-23 20:22:26 +02:00
parent 69421be983
commit 287973da28
1 changed files with 7 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/systemlib/pwm_limit/pwm_limit.c
+7
View File
@@ -142,6 +142,13 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
case PWM_LIMIT_STATE_ON:
for (unsigned i=0; i<num_channels; i++) {
effective_pwm[i] = output[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2;
/* last line of defense against invalid inputs */
if (effective_pwm[i] < min_pwm[i]) {
effective_pwm[i] = min_pwm[i];
} else if (effective_pwm[i] > max_pwm[i]) {
effective_pwm[i] = max_pwm[i];
}
}
break;
default: