AP_Motors: move constraints to set_throttle

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -838,8 +838,8 @@ void AP_MotorsHeli::update_throttle_filter()
 {
     _throttle_filter.apply(_throttle_in, 1.0f/_loop_rate);
 
-    // prevent _rc_throttle.servo_out from wrapping at int16 max or min
-    _throttle_control_input = constrain_float(_throttle_filter.get(),-32000,32000);
+    // constrain throttle signal to 0-1000
+    _throttle_control_input = constrain_float(_throttle_filter.get(),0.0f,1000.0f);
 }
 
 // set_radio_passthrough used to pass radio inputs directly to outputs

libraries/AP_Motors/AP_Motors_Class.cpp

@@ -244,13 +244,13 @@ void AP_Motors::slow_start(bool true_false)
 void AP_Motors::update_throttle_filter()
 {
     if (armed()) {
-        _throttle_filter.apply(constrain_float(_throttle_in,-100,1100), 1.0f/_loop_rate);
+        _throttle_filter.apply(_throttle_in, 1.0f/_loop_rate);
     } else {
         _throttle_filter.reset(0.0f);
     }
 
-    // prevent _throttle_control_input from wrapping at int16 max or min
-    _throttle_control_input = constrain_float(_throttle_filter.get(),-32000,32000);
+    // constrain throttle signal to 0-1000
+    _throttle_control_input = constrain_float(_throttle_filter.get(),0.0f,1000.0f);
 }
 
 // update_max_throttle - updates the limits on _max_throttle if necessary taking into account slow_start_throttle flag

libraries/AP_Motors/AP_Motors_Class.h

@@ -131,7 +131,7 @@ public:
     void                set_roll(int16_t roll_in) { _roll_control_input = roll_in; };                   // range -4500 ~ 4500
     void                set_pitch(int16_t pitch_in) { _pitch_control_input = pitch_in; };               // range -4500 ~ 4500
     void                set_yaw(int16_t yaw_in) { _yaw_control_input = yaw_in; };                       // range -4500 ~ 4500
-    void                set_throttle(float throttle_in) { _throttle_in = throttle_in; };                // range 0 ~ 1000
+    void                set_throttle(float throttle_in) { _throttle_in = constrain_float(throttle_in,-100.0f,1100.0f); };   // range 0 ~ 1000
     void                set_stabilizing(bool stabilizing) { _flags.stabilizing = stabilizing; }
 
     // accessors for roll, pitch, yaw and throttle inputs to motors