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fixed quad PWM clipping

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this adopts the simpler approach suggested by Jason.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2936 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
tridge60@gmail.com 2011-07-22 21:25:59 +00:00
parent 87a260656e
commit 580f981d30
1 changed files with 3 additions and 3 deletions
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6
ArduCopterMega/motors_quad.pde
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@ -59,9 +59,9 @@ static void output_motors_armed()
* is at its maximum output
*/
for (int i=CH_1; i<=CH_4; i++) {
if (motor_out[i] > out_max && motor_out[i] > out_min) {
/* note that i^1 is the 'opposite' motor for a quad */
motor_out[i^1] *= ((float)out_max - out_min) / (motor_out[i] - out_min);
if (motor_out[i] > out_max) {
// note that i^1 is the opposite motor
motor_out[i^1] -= motor_out[i] - out_max;
motor_out[i] = out_max;
}
}