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tap_esc: fixed offset to really keep the range 1200-1900

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even if the input to the driver is too low or too high.
This prevents motor stalling.
NaN or Inf still stop the motor.
This commit is contained in:
Matthias Grob
2017-01-28 15:24:45 +01:00
committed by Lorenz Meier
parent 91416fc49a
commit 41ff46b557
1 changed files with 6 additions and 6 deletions
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src/drivers/tap_esc/tap_esc.cpp
+6 -6
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@@ -40,6 +40,7 @@
#include <termios.h>
#include <cmath> // NAN
#include <lib/mathlib/mathlib.h>
#include <systemlib/px4_macros.h>
#include <drivers/device/device.h>
#include <uORB/uORB.h>
@@ -664,15 +665,14 @@ TAP_ESC::cycle()
for (unsigned i = 0; i < num_outputs; i++) {
/* last resort: catch NaN, INF and out-of-band errors */
if (i < _outputs.noutputs &&
PX4_ISFINITE(_outputs.output[i]) &&
_outputs.output[i] >= -1.0f &&
_outputs.output[i] <= 1.0f) {
/* scale for PWM output 1000 - 2000us */
_outputs.output[i] = 1600 + (350 * _outputs.output[i]);
PX4_ISFINITE(_outputs.output[i])) {
/* scale for PWM output 1200 - 1900us */
_outputs.output[i] = (RPMMAX + RPMMIN) / 2 + ((RPMMAX - RPMMIN) / 2) * _outputs.output[i]);
math::constrain(_outputs.output[i], (float)RPMMIN, (float)RPMMAX);
} else {
/*
* Value is NaN, INF or out of band - set to the minimum value.
* Value is NaN, INF - stop the motor.
* This will be clearly visible on the servo status and will limit the risk of accidentally
* spinning motors. It would be deadly in flight.
*/