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SRV_Channel: prevent FPE with SERVOn_MIN==SERVOn_MAX

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This commit is contained in:
Andrew Tridgell 2021-01-03 16:48:55 +11:00
parent 4a7f663cad
commit a74d087fd8
1 changed files with 3 additions and 0 deletions
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3
libraries/SRV_Channel/SRV_Channel_aux.cpp
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@ -616,6 +616,9 @@ void SRV_Channels::adjust_trim(SRV_Channel::Aux_servo_function_t function, float
}
float change = c.reversed?-v:v;
uint16_t new_trim = c.servo_trim;
if (c.servo_max <= c.servo_min) {
continue;
}
float trim_scaled = float(c.servo_trim - c.servo_min) / (c.servo_max - c.servo_min);
if (change > 0 && trim_scaled < 0.6f) {
new_trim++;