From cc11fb281854a1f9154cac9d8258262e60898c99 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 13 Feb 2021 20:41:28 +0100 Subject: [PATCH] Multicopter rate controller: Protect for full throttle scaling PX4 supports -1 to 1 as input and this module was not protected against the input range. --- src/modules/mc_rate_control/MulticopterRateControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_rate_control/MulticopterRateControl.cpp b/src/modules/mc_rate_control/MulticopterRateControl.cpp index dc97d17dbb..44ea046597 100644 --- a/src/modules/mc_rate_control/MulticopterRateControl.cpp +++ b/src/modules/mc_rate_control/MulticopterRateControl.cpp @@ -192,7 +192,7 @@ MulticopterRateControl::Run() math::superexpo(_manual_control_setpoint.r, _param_mc_acro_expo_y.get(), _param_mc_acro_supexpoy.get())}; _rates_sp = man_rate_sp.emult(_acro_rate_max); - _thrust_sp = _manual_control_setpoint.z; + _thrust_sp = math::constrain(_manual_control_setpoint.z, 0.0f, 1.0f); // publish rate setpoint vehicle_rates_setpoint_s v_rates_sp{};