From 928d7c7e7183a0ca0be5eb4c4d68b8f137948325 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 3 Apr 2019 21:33:11 +0900 Subject: [PATCH] AP_MotorsHeli: add range checking to ext_gyro_gain --- libraries/AP_Motors/AP_MotorsHeli_Single.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.h b/libraries/AP_Motors/AP_MotorsHeli_Single.h index 4dff63d1d7..061b89de62 100644 --- a/libraries/AP_Motors/AP_MotorsHeli_Single.h +++ b/libraries/AP_Motors/AP_MotorsHeli_Single.h @@ -79,8 +79,8 @@ public: // this can be used to ensure other pwm outputs (i.e. for servos) do not conflict uint16_t get_motor_mask() override; - // ext_gyro_gain - set external gyro gain in range 0 ~ 1 - void ext_gyro_gain(float gain) override { _ext_gyro_gain_std = gain * 1000.0f; } + // ext_gyro_gain - set external gyro gain in range 0 ~ 1000 + void ext_gyro_gain(float gain) override { if (gain >= 0 && gain <= 1000) { _ext_gyro_gain_std = gain; }} // has_flybar - returns true if we have a mechical flybar bool has_flybar() const override { return _flybar_mode; }