MC mixer input limiting implemented.

src/modules/systemlib/mixer/mixer_multirotor.cpp

@@ -67,6 +67,11 @@
 namespace
 {
 
+float constrain(float val, float min, float max)
+{
+	return (val < min) ? min : ((val > max) ? max : val);
+}
+
 /*
  * These tables automatically generated by multi_tables - do not edit.
  */
@@ -276,11 +281,11 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 unsigned
 MultirotorMixer::mix(float *outputs, unsigned space)
 {
-	float		roll    = get_control(0, 0) * _roll_scale;
+	float		roll    = constrain(get_control(0, 0) * _roll_scale, -1.0f, 1.0f);
 	//lowsyslog("roll: %d, get_control0: %d, %d\n", (int)(roll), (int)(get_control(0, 0)), (int)(_roll_scale));
-	float		pitch   = get_control(0, 1) * _pitch_scale;
+	float		pitch   = constrain(get_control(0, 1) * _pitch_scale, -1.0f, 1.0f);
-	float		yaw     = get_control(0, 2) * _yaw_scale;
+	float		yaw     = constrain(get_control(0, 2) * _yaw_scale, -1.0f, 1.0f);
-	float		thrust  = get_control(0, 3);
+	float		thrust  = constrain(get_control(0, 3), 0.0f, 1.0f);
 	//lowsyslog("thrust: %d, get_control3: %d\n", (int)(thrust), (int)(get_control(0, 3)));
 	float		min_out = 0.0f;
 	float		max_out = 0.0f;