From 44830be1725c7752845b2bba750d08caaccb629c Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 1 Sep 2016 20:31:49 +0900
Subject: [PATCH] AC_AttControl: add parameter check of throttle mix

---
 .../AC_AttitudeControl/AC_AttitudeControl.h      |  3 +++
 .../AC_AttitudeControl_Multi.cpp                 | 16 ++++++++++++++++
 .../AC_AttitudeControl_Multi.h                   |  3 +++
 3 files changed, 22 insertions(+)

diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index 439678b353..96cb5540d9 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -234,6 +234,9 @@ public:
     // Calculates the body frame angular velocities to follow the target attitude
     void attitude_controller_run_quat();
 
+    // sanity check parameters.  should be called once before take-off
+    virtual void parameter_sanity_check() {}
+
     // User settable parameters
     static const struct AP_Param::GroupInfo var_info[];
 
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
index 4ee93eecba..68788bf9bb 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
@@ -232,3 +232,19 @@ void AC_AttitudeControl_Multi::rate_controller_run()
 
     control_monitor_update();
 }
+
+// sanity check parameters.  should be called once before takeoff
+void AC_AttitudeControl_Multi::parameter_sanity_check()
+{
+    // sanity check throttle mix parameters
+    if (_thr_mix_min < 0.1f || _thr_mix_min > 0.25f) {
+        _thr_mix_min = AC_ATTITUDE_CONTROL_MIN_DEFAULT;
+    }
+    if (_thr_mix_max < 0.5f || _thr_mix_max > 0.9f) {
+        _thr_mix_max = AC_ATTITUDE_CONTROL_MAX_DEFAULT;
+    }
+    if (_thr_mix_min > _thr_mix_max) {
+        _thr_mix_min = AC_ATTITUDE_CONTROL_MIN_DEFAULT;
+        _thr_mix_max = AC_ATTITUDE_CONTROL_MAX_DEFAULT;
+    }
+}
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
index ca4085087b..ca2959dd02 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
@@ -74,6 +74,9 @@ public:
     // run lowest level body-frame rate controller and send outputs to the motors
     void rate_controller_run();
 
+    // sanity check parameters.  should be called once before take-off
+    void parameter_sanity_check();
+
     // user settable parameters
     static const struct AP_Param::GroupInfo var_info[];