From c69f7bb1d052c9446ae08fdfc068cf3457e1783c Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 2 May 2018 17:19:12 +0900
Subject: [PATCH] AP_MotorsUGV: consolidate parameter sanity checks

---
 APMrover2/AP_MotorsUGV.cpp | 17 +++++++++++------
 APMrover2/AP_MotorsUGV.h   |  3 +++
 2 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/APMrover2/AP_MotorsUGV.cpp b/APMrover2/AP_MotorsUGV.cpp
index b7b3c48a17..bab1f1016c 100644
--- a/APMrover2/AP_MotorsUGV.cpp
+++ b/APMrover2/AP_MotorsUGV.cpp
@@ -106,9 +106,6 @@ void AP_MotorsUGV::init()
 
     // set safety output
     setup_safety_output();
-
-    // sanity check parameters
-    _vector_throttle_base = constrain_float(_vector_throttle_base, 0.0f, 100.0f);
 }
 
 // setup output in case of main CPU failure
@@ -162,9 +159,6 @@ void AP_MotorsUGV::set_steering(float steering)
 // set throttle as a value from -100 to 100
 void AP_MotorsUGV::set_throttle(float throttle)
 {
-    // sanity check throttle min and max
-    _throttle_min = constrain_int16(_throttle_min, 0, 20);
-    _throttle_max = constrain_int16(_throttle_max, 30, 100);
 
     // check throttle is between -_throttle_max ~ +_throttle_max but outside -throttle_min ~ +throttle_min
     _throttle = constrain_float(throttle, -_throttle_max, _throttle_max);
@@ -189,6 +183,9 @@ void AP_MotorsUGV::output(bool armed, float dt)
         armed = false;
     }
 
+    // sanity check parameters
+    sanity_check_parameters();
+
     // clear and set limits based on input (limit flags may be set again by output_regular or output_skid_steering methods)
     set_limits_from_input(armed, _steering, _throttle);
 
@@ -333,6 +330,14 @@ bool AP_MotorsUGV::pre_arm_check(bool report) const
     return true;
 }
 
+// sanity check parameters
+void AP_MotorsUGV::sanity_check_parameters()
+{
+    _throttle_min = constrain_int16(_throttle_min, 0, 20);
+    _throttle_max = constrain_int16(_throttle_max, 30, 100);
+    _vector_throttle_base = constrain_float(_vector_throttle_base, 0.0f, 100.0f);
+}
+
 // setup pwm output type
 void AP_MotorsUGV::setup_pwm_type()
 {
diff --git a/APMrover2/AP_MotorsUGV.h b/APMrover2/AP_MotorsUGV.h
index 0a4fa3e47d..247c1b1492 100644
--- a/APMrover2/AP_MotorsUGV.h
+++ b/APMrover2/AP_MotorsUGV.h
@@ -74,6 +74,9 @@ public:
 
 protected:
 
+    // sanity check parameters
+    void sanity_check_parameters();
+
     // setup pwm output type
     void setup_pwm_type();