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AP_Motors: prevent negative thrust

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this prevents a sqrt of a negative number
This commit is contained in:
Andrew Tridgell 2016-05-26 17:09:11 +10:00
parent 9f33ece3ef
commit a2ed8fb313
1 changed files with 1 additions and 0 deletions
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libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -328,6 +328,7 @@ float AP_MotorsMulticopter::get_compensation_gain() const
int16_t AP_MotorsMulticopter::calc_thrust_to_pwm(float thrust_in) const int16_t AP_MotorsMulticopter::calc_thrust_to_pwm(float thrust_in) const
{ {
thrust_in = constrain_float(thrust_in, 0, 1);
return constrain_int16((get_pwm_output_min() + _min_throttle + apply_thrust_curve_and_volt_scaling(thrust_in) * return constrain_int16((get_pwm_output_min() + _min_throttle + apply_thrust_curve_and_volt_scaling(thrust_in) *
(get_pwm_output_max() - (get_pwm_output_min() + _min_throttle))), get_pwm_output_min() + _min_throttle, get_pwm_output_max()); (get_pwm_output_max() - (get_pwm_output_min() + _min_throttle))), get_pwm_output_min() + _min_throttle, get_pwm_output_max());
} }