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PWM limit: Avoid writing back into state struct

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Lorenz Meier
2015-07-06 12:08:31 +02:00
parent c9fe205db1
commit ef4946f81b
1 changed files with 5 additions and 2 deletions
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src/modules/systemlib/pwm_limit/pwm_limit.c
+5 -2
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@@ -105,14 +105,17 @@ void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_c
* as the throttle channels need to go through the ramp at * as the throttle channels need to go through the ramp at
* regular arming time. * regular arming time.
*/ */
unsigned local_limit_state = limit->state;
if (pre_armed) { if (pre_armed) {
limit->state = PWM_LIMIT_STATE_ON; local_limit_state = PWM_LIMIT_STATE_ON;
} }
unsigned progress; unsigned progress;
/* then set effective_pwm based on state */ /* then set effective_pwm based on state */
switch (limit->state) { switch (local_limit_state) {
case PWM_LIMIT_STATE_OFF: case PWM_LIMIT_STATE_OFF:
case PWM_LIMIT_STATE_INIT: case PWM_LIMIT_STATE_INIT:
for (unsigned i=0; i<num_channels; i++) { for (unsigned i=0; i<num_channels; i++) {