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SRV_Channel: prevent negative slew rate

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thanks to Michael for pointing this out
This commit is contained in:
Andrew Tridgell 2017-07-06 14:11:29 +10:00
parent 5c10d81f60
commit 470ae43ba4
1 changed files with 4 additions and 0 deletions
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4
libraries/SRV_Channel/SRV_Channel_aux.cpp
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@ -571,6 +571,10 @@ float SRV_Channels::get_output_norm(SRV_Channel::Aux_servo_function_t function)
*/ */
void SRV_Channels::limit_slew_rate(SRV_Channel::Aux_servo_function_t function, float slew_rate, float dt) void SRV_Channels::limit_slew_rate(SRV_Channel::Aux_servo_function_t function, float slew_rate, float dt)
{ {
if (slew_rate <= 0) {
// nothing to do
return;
}
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) { for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
SRV_Channel &ch = channels[i]; SRV_Channel &ch = channels[i];
if (ch.function == function) { if (ch.function == function) {