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Actuator limits and channels corrrection

This commit is contained in:
fpvaspassion 2015-08-17 11:24:37 +03:00 committed by Lorenz Meier
parent 477625a53c
commit fef432d852
1 changed files with 4 additions and 4 deletions
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8
src/modules/navigator/mission_feasibility_checker.cpp
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@ -307,14 +307,14 @@ MissionFeasibilityChecker::check_dist_1wp(dm_item_t dm_current, size_t nMissionI
if (mission_item.nav_cmd == NAV_CMD_DO_SET_SERVO){
//check actuator number
if (mission_item.actuator_num<1 || mission_item.actuator_num>6) {
mavlink_log_critical(_mavlink_fd, "Actuator number %d is out of bounds 1..6", (int)mission_item.actuator_num);
if (mission_item.actuator_num<0 || mission_item.actuator_num>5) {
mavlink_log_critical(_mavlink_fd, "Actuator number %d is out of bounds 0..5", (int)mission_item.actuator_num);
warning_issued = true;
return false;
}
//check actuator value
if (mission_item.actuator_value<900 || mission_item.actuator_value>2000) {
mavlink_log_critical(_mavlink_fd, "Actuator number %d is out of bounds 900..2000", (int)mission_item.actuator_value);
if (mission_item.actuator_value<-2000 || mission_item.actuator_value>2000) {
mavlink_log_critical(_mavlink_fd, "Actuator value %d is out of bounds -2000..2000", (int)mission_item.actuator_value);
warning_issued = true;
return false;
}