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AP_Motors: properly constrain thr_adj_max

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Jonathan Challinger 2014-04-06 15:52:07 -07:00 committed by Randy Mackay
parent ddd4d881a9
commit fb703ff506
1 changed files with 1 additions and 1 deletions
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libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -250,7 +250,7 @@ void AP_MotorsMatrix::output_armed()
thr_adj = _rc_throttle->radio_out - out_best_thr_pwm; thr_adj = _rc_throttle->radio_out - out_best_thr_pwm;
// calc upper and lower limits of thr_adj // calc upper and lower limits of thr_adj
int16_t thr_adj_max = out_max_pwm-(out_best_thr_pwm+rpy_high); int16_t thr_adj_max = max(out_max_pwm-(out_best_thr_pwm+rpy_high),0);
// if we are increasing the throttle (situation #2 above).. // if we are increasing the throttle (situation #2 above)..
if (thr_adj > 0) { if (thr_adj > 0) {