From 3693f34a41046949f0850861f80b0c54ac6f645d Mon Sep 17 00:00:00 2001
From: Bertrand Songis <bsongis@gmail.com>
Date: Tue, 26 Apr 2016 12:16:52 +0200
Subject: [PATCH] [Crossfire] Min / max limits were missing for each channel
 transmitted

---
 radio/src/pulses/crossfire.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/radio/src/pulses/crossfire.cpp b/radio/src/pulses/crossfire.cpp
index 8101a500b..837cbe708 100644
--- a/radio/src/pulses/crossfire.cpp
+++ b/radio/src/pulses/crossfire.cpp
@@ -34,7 +34,8 @@ void createCrossfireFrame(uint8_t * frame, int16_t * pulses)
   uint32_t bits = 0;
   uint8_t bitsavailable = 0;
   for (int i=0; i<CROSSFIRE_CHANNELS_COUNT; i++) {
-    bits |= (CROSSFIRE_CH_CENTER + (((pulses[i]) * 4) / 5)) << bitsavailable;
+    uint32_t val = limit(0, CROSSFIRE_CH_CENTER + (((pulses[i]) * 4) / 5), 2*CROSSFIRE_CH_CENTER);
+    bits |= val << bitsavailable;
     bitsavailable += CROSSFIRE_CH_BITS;
     while (bitsavailable >= 8) {
       *buf++ = bits;