PPM Over limit settings.

Hi All,

I am currently using the VESC in a robot application which uses mixing to control the steering. The issue I am having is on standard remotes the mixing method basically makes the corners go beyond 100%. This triggers a failsafe on the VESC as the pulse is out of range causing the robot to stop.

I am trying to modify the app_ppm file to mitigate this however I am unsure where this is contained.

From reading the source I thought this section would be responsible for limiting ranges in servo_dec.c.

	if (len > len_set) {
		if (len < (len_set * 1.2)) {
			len = len_set;
		} else {
			// Too long pulse. Most likely something is wrong.
			len = -1.0;
		}
	} else if (len < 0.0) {
		if ((len + pulse_start) > (pulse_start * 0.8)) {
			len = 0.0;
		} else {
			// Too short pulse. Most likely something is wrong.
			len = -1.0;
		}
	}

However extending these to be much wider ranges doesn't appear to have fixed the issue. Does anyone have any suggestions or additional insight in to the app_ppm and servo_dec setup.

Steve