From ccc806844300533b8471250106622db49aa2719d Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 18 Aug 2014 12:56:22 +0900
Subject: [PATCH] Copter: range check ACRO_EXPO to be no more than 1

---
 ArduCopter/control_acro.pde | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ArduCopter/control_acro.pde b/ArduCopter/control_acro.pde
index 0b928adb42..c7975f5da8 100644
--- a/ArduCopter/control_acro.pde
+++ b/ArduCopter/control_acro.pde
@@ -59,6 +59,11 @@ static void get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int
         // expo variables
         float rp_in, rp_in3, rp_out;
 
+        // range check expo
+        if (g.acro_expo > 1.0f) {
+            g.acro_expo = 1.0f;
+        }
+
         // roll expo
         rp_in = float(roll_in)/ROLL_PITCH_INPUT_MAX;
         rp_in3 = rp_in*rp_in*rp_in;