From 042ad10b00c0486f0c605faba7b88e4fa9951718 Mon Sep 17 00:00:00 2001 From: murata <ma2maru@gmail.com> Date: Sat, 4 Jun 2022 00:20:00 +0900 Subject: [PATCH] AP_Motors: Resolve Issue 20894 --- libraries/AP_Motors/AP_MotorsMulticopter.cpp | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.cpp b/libraries/AP_Motors/AP_MotorsMulticopter.cpp index b3fcfe27b6..cfd52d056c 100644 --- a/libraries/AP_Motors/AP_MotorsMulticopter.cpp +++ b/libraries/AP_Motors/AP_MotorsMulticopter.cpp @@ -501,12 +501,10 @@ float AP_MotorsMulticopter::actuator_spin_up_to_ground_idle() const // parameter checks for MOT_PWM_MIN/MAX, returns true if parameters are valid bool AP_MotorsMulticopter::check_mot_pwm_params() const { - // sanity says that minimum should be less than maximum: - if (_pwm_min >= _pwm_max) { - return false; - } - // negative values are out-of-range: - if (_pwm_max <= 0) { + // _pwm_min is a value greater than or equal to 1. + // _pwm_max is greater than _pwm_min. + // The values of _pwm_min and _pwm_max are positive values. + if (_pwm_min < 1 || _pwm_min >= _pwm_max) { return false; } return true;