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pwm_limit: Add missing case for the arming ramp

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Lorenz Meier
2014-05-23 20:38:13 +02:00
parent 0ea3e95422
commit b4a03d8de5
1 changed files with 7 additions and 0 deletions
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src/modules/systemlib/pwm_limit/pwm_limit.c
+7
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@@ -136,6 +136,13 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
}
effective_pwm[i] = output[i] * (max_pwm[i] - ramp_min_pwm)/2 + (max_pwm[i] + ramp_min_pwm)/2;
/* last line of defense against invalid inputs */
if (effective_pwm[i] < ramp_min_pwm) {
effective_pwm[i] = ramp_min_pwm;
} else if (effective_pwm[i] > max_pwm[i]) {
effective_pwm[i] = max_pwm[i];
}
}
}
break;