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RC_Channel: constrain norm_input() to -1 to 1

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if RC is not properly calibrated we could get a value beyond 1, which
could cause some flight modes to exceed the roll/pitch limits of the
aircraft
This commit is contained in:
Andrew Tridgell 2014-03-15 20:43:13 +11:00
parent eb7db82210
commit 68462025ba
1 changed files with 4 additions and 2 deletions
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6
libraries/RC_Channel/RC_Channel.cpp
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@ -333,10 +333,12 @@ RC_Channel::range_to_pwm()
float float
RC_Channel::norm_input() RC_Channel::norm_input()
{ {
float ret;
if(radio_in < radio_trim) if(radio_in < radio_trim)
return _reverse * (float)(radio_in - radio_trim) / (float)(radio_trim - radio_min); ret = _reverse * (float)(radio_in - radio_trim) / (float)(radio_trim - radio_min);
else else
return _reverse * (float)(radio_in - radio_trim) / (float)(radio_max - radio_trim); ret = _reverse * (float)(radio_in - radio_trim) / (float)(radio_max - radio_trim);
return constrain_float(ret, -1.0f, 1.0f);
} }
/* /*