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AP_MotorsMulticopter: fixup check_mot_pwm_params 

fix _pwm_max is positive check
returns true if params are valid
constify method
This commit is contained in:
Randy Mackay 2020-01-30 10:01:54 +09:00
parent f00bf77af7
commit bff978570f
2 changed files with 8 additions and 8 deletions
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12
libraries/AP_Motors/AP_MotorsMulticopter.cpp
View File

@ -483,14 +483,14 @@ int16_t AP_MotorsMulticopter::get_pwm_output_max() const
return _throttle_radio_max;
}
// parameter checks for MOT_PWM_MIN/MAX
bool AP_MotorsMulticopter::check_mot_pwm_params()
// parameter checks for MOT_PWM_MIN/MAX, returns true if parameters are valid
bool AP_MotorsMulticopter::check_mot_pwm_params() const
{
if ((_pwm_min == 0 && _pwm_max !=0) || (_pwm_min != 0 && _pwm_max == 0) ||
(_pwm_min < 0 || _pwm_min < 0) || (_pwm_min > _pwm_max)) {
return true;
if ((_pwm_min == 0 && _pwm_max != 0) || (_pwm_min != 0 && _pwm_max == 0) ||
(_pwm_min < 0 || _pwm_max < 0) || (_pwm_min > _pwm_max)) {
return false;
}
return false;
return true;
}
// set_throttle_range - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle)

4
libraries/AP_Motors/AP_MotorsMulticopter.h
View File

@ -84,8 +84,8 @@ public:
int16_t get_pwm_output_min() const;
int16_t get_pwm_output_max() const;
// parameter check for MOT_PWM_MIN/MAX
bool check_mot_pwm_params();
// parameter check for MOT_PWM_MIN/MAX, returns true if parameters are valid
bool check_mot_pwm_params() const;
// set thrust compensation callback
FUNCTOR_TYPEDEF(thrust_compensation_fn_t, void, float *, uint8_t);