From 9959a4445303c41855b95519e21a6ac3028c088c Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Sun, 6 Apr 2014 15:52:07 -0700
Subject: [PATCH] AP_Motors: properly constrain thr_adj_max
---
libraries/AP_Motors/AP_MotorsMatrix.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index 4b4232389..7ec90804b 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -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) {
--
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