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AP_Motors: clamp max-num-motors to num-servo-channels

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Peter Barker 2025-01-23 19:10:48 +11:00 committed by Peter Barker
parent dfe0a559d3
commit afaed41d6e
1 changed files with 7 additions and 0 deletions
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7
libraries/AP_Motors/AP_Motors_Class.h
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@ -6,6 +6,7 @@
#include <Filter/DerivativeFilter.h> #include <Filter/DerivativeFilter.h>
#include <GCS_MAVLink/GCS_MAVLink.h> #include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Logger/AP_Logger_config.h> #include <AP_Logger/AP_Logger_config.h>
#include <SRV_Channel/SRV_Channel_config.h>
// offsets for motors in motor_out and _motor_filtered arrays // offsets for motors in motor_out and _motor_filtered arrays
#define AP_MOTORS_MOT_1 0U #define AP_MOTORS_MOT_1 0U
@ -47,6 +48,12 @@
#else #else
#define AP_MOTORS_MAX_NUM_MOTORS 12 #define AP_MOTORS_MAX_NUM_MOTORS 12
#endif #endif
// doesn't make sense to have more motors than servo channels, so clamp:
#if NUM_SERVO_CHANNELS < AP_MOTORS_MAX_NUM_MOTORS
#undef AP_MOTORS_MAX_NUM_MOTORS
#define AP_MOTORS_MAX_NUM_MOTORS NUM_SERVO_CHANNELS
#endif
#endif #endif
#ifndef AP_MOTORS_FRAME_DEFAULT_ENABLED #ifndef AP_MOTORS_FRAME_DEFAULT_ENABLED