Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

RC_Channel: prevent floating exception on bad MIN/MAX/TRIM values

Browse Source
This commit is contained in:
Andrew Tridgell 2015-07-27 10:05:33 +10:00
parent 01161135d6
commit c86ff1ac25
1 changed files with 8 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/RC_Channel/RC_Channel.cpp
View File

@ -428,10 +428,16 @@ RC_Channel::norm_output()
{
int16_t mid = (radio_max + radio_min) / 2;
float ret;
if(radio_out < mid)
if (mid <= radio_min) {
return 0;
}
if (radio_out < mid) {
ret = (float)(radio_out - mid) / (float)(mid - radio_min);
else
} else if (radio_out > mid) {
ret = (float)(radio_out - mid) / (float)(radio_max - mid);
} else {
ret = 0;
}
if (_reverse == -1) {
ret = -ret;
}