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Merge pull request #997 from PX4/mc_mix_safe_limit 

mc mixer: additional safe limiting of mixed out
This commit is contained in:
Lorenz Meier 2014-05-23 11:04:40 -07:00
parent 69421be983 635a7533b4
commit dc3b496655
1 changed files with 2 additions and 2 deletions
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4
src/modules/systemlib/mixer/mixer_multirotor.cpp
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@ -351,9 +351,9 @@ MultirotorMixer::mix(float *outputs, unsigned space)
scale_out = 1.0f; scale_out = 1.0f;
} }
/* scale outputs to range _idle_speed..1 */ /* scale outputs to range _idle_speed..1, and do final limiting */
for (unsigned i = 0; i < _rotor_count; i++) { for (unsigned i = 0; i < _rotor_count; i++) {
outputs[i] = _idle_speed + (outputs[i] * (1.0f - _idle_speed) * scale_out); outputs[i] = constrain(_idle_speed + (outputs[i] * (1.0f - _idle_speed) * scale_out), _idle_speed, 1.0f);
} }
return _rotor_count; return _rotor_count;