Merge branch 'master' of https://twinetfs.visualstudio.com/Tango/_git/Tango

1 files changed, 11 insertions, 1 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index ab1ab77e6..275e7e5b7 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -842,6 +842,16 @@ uint32_t HandleJobThreadControlParameters(ThreadParameters* ThreadParams)
     {
         return OK;
     }
+    if((ThreadParams->bypassrockers != true)&&(ThreadParams->bypassrockers != false))
+    {
+        ReportWithPackageFilter(ThreadFilter,"incorrect Thread parameters ",__FILE__,__LINE__,(int)ThreadParams->feederp,RpWarning,(int)ThreadParams->bypassrockers,0);
+        return OK;
+    }
+    if ((ThreadParams->feederp>100000)||(ThreadParams->feederi>100000))
+    {
+        ReportWithPackageFilter(ThreadFilter,"incorrect Thread parameters ",__FILE__,__LINE__,(int)ThreadParams->feederp,RpWarning,(int)ThreadParams->bypassrockers,0);
+        return OK;
+    }
     if(ThreadParams->feederp)
         MotorControlConfig[FEEDER_MOTOR].m_params.Kp = ThreadParams->feederp;
     if(ThreadParams->feederi)
@@ -1168,6 +1178,7 @@ uint32_t ThreadPrepareState(void *JobDetails)
         MotorControlConfig[Motor_i].m_preError = 0;
         MotorControlConfig[Motor_i].m_SetParam = 0;//need to update SetParams on presegment stage
 
+        HandleJobThreadControlParameters(JobTicket->threadparameters);  //OVERRIDES CONFIGURATION PARAMETERS!!!
 
         temp_dt = MotorControlConfig[Motor_i].m_params.dt/0.001;
         MotorTiming[Motor_i] = (int)temp_dt;
@@ -1278,7 +1289,6 @@ uint32_t ThreadPrepareState(void *JobDetails)
             }
 #endif
     }
-    HandleJobThreadControlParameters(JobTicket->threadparameters);  //OVERRIDES CONFIGURATION PARAMETERS!!!
 
 #ifdef TEST_PID_THREAD
     testDancersControl();