fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 15:18:54 +08:00
Code Issues Packages Projects Releases Wiki Activity

Hotfix: Off-by-one fix in overflow check

Browse Source
This commit is contained in:
Lorenz Meier
2013-05-13 23:25:18 +02:00
parent ff518e72d4
commit 9a07788d58
1 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/ardrone_interface/ardrone_motor_control.c
+4 -4
View File
@@ -482,10 +482,10 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
motor_pwm[3] = (motor_pwm[3] > 0) ? motor_pwm[3] : 10;
/* Failsafe logic - should never be necessary */
motor_pwm[0] = (motor_pwm[0] <= 512) ? motor_pwm[0] : 512;
motor_pwm[1] = (motor_pwm[1] <= 512) ? motor_pwm[1] : 512;
motor_pwm[2] = (motor_pwm[2] <= 512) ? motor_pwm[2] : 512;
motor_pwm[3] = (motor_pwm[3] <= 512) ? motor_pwm[3] : 512;
motor_pwm[0] = (motor_pwm[0] <= 511) ? motor_pwm[0] : 511;
motor_pwm[1] = (motor_pwm[1] <= 511) ? motor_pwm[1] : 511;
motor_pwm[2] = (motor_pwm[2] <= 511) ? motor_pwm[2] : 511;
motor_pwm[3] = (motor_pwm[3] <= 511) ? motor_pwm[3] : 511;
/* send motors via UART */
ardrone_write_motor_commands(ardrone_write, motor_pwm[0], motor_pwm[1], motor_pwm[2], motor_pwm[3]);