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Flight mode manager: Protect for full throttle scaling

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PX4 supports -1 to 1 as input and this module was not protected against the input range.
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Lorenz Meier
2021-02-13 20:40:37 +01:00
parent ec2cf70276
commit 66d86aae2e
1 changed files with 2 additions and 1 deletions
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src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp
+2 -1
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@@ -53,7 +53,8 @@ bool Sticks::checkAndSetStickInputs()
// Linear scale
_positions(0) = manual_control_setpoint.x; // NED x, pitch [-1,1]
_positions(1) = manual_control_setpoint.y; // NED y, roll [-1,1]
_positions(2) = -(manual_control_setpoint.z - 0.5f) * 2.f; // NED z, thrust resacaled from [0,1] to [-1,1]
_positions(2) = -(math::constrain(manual_control_setpoint.z, 0.0f,
1.0f) - 0.5f) * 2.f; // NED z, thrust resacaled from [0,1] to [-1,1]
_positions(3) = manual_control_setpoint.r; // yaw [-1,1]
// Exponential scale