From 887dfd1ec4f250478c76de2d77ed261dbb32fb63 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 1 May 2016 16:42:30 +0200
Subject: [PATCH] Fix RSSI lower bound

---
 src/drivers/px4fmu/fmu.cpp | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index a661879aac..368f81fec7 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -861,12 +861,18 @@ PX4FMU::fill_rc_in(uint16_t raw_rc_count,
 
 		/* set RSSI if analog RSSI input is present */
 		if (_analog_rc_rssi_stable) {
-			_rc_in.rssi = ((_analog_rc_rssi_volt - 0.2f) / 3.0f) * 100.0f;
+			float rssi = ((_analog_rc_rssi_volt - 0.2f) / 3.0f) * 100.0f;
 
-			if (_rc_in.rssi > 100) {
-				_rc_in.rssi = 100;
+			if (rssi > 100.0f) {
+				rssi = 100.0f;
 			}
 
+			if (rssi < 0.0f) {
+				rssi = 0.0f;
+			}
+
+			_rc_in.rssi = rssi;
+
 		} else {
 			_rc_in.rssi =
 				(!frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);