AP_Motors: properly constrain thr_adj_max

11 years ago · 9959a44453
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@ -250,7 +250,7 @@ void AP_MotorsMatrix::output_armed()
				@@ -250,7 +250,7 @@ void AP_MotorsMatrix::output_armed()
        thr_adj = _rc_throttle.radio_out - out_best_thr_pwm;

        // 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 (thr_adj > 0) {