From fef432d852322dd002970dfb0003ba233641d15c Mon Sep 17 00:00:00 2001 From: fpvaspassion Date: Mon, 17 Aug 2015 11:24:37 +0300 Subject: [PATCH] Actuator limits and channels corrrection --- src/modules/navigator/mission_feasibility_checker.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index 8d9cca71c9..34f17ef0d4 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -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; }