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| author | Thomas Gubler <thomasgubler@gmail.com> | 2012-11-10 20:03:17 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2012-11-10 20:03:17 +0100 |
| commit | 2b1e199b91641fb3ad097792f5ead98d5148de00 (patch) | |
| tree | 2131ad45570bdbacd6de288c448407f70d3b9d02 | |
| parent | bbfd31dd681d0c86d55d8e0dfc2a0315b286928b (diff) | |
| parent | 3e6e7647c95d160f919c089471b6ed3acac2e51f (diff) | |
| download | px4-firmware-2b1e199b91641fb3ad097792f5ead98d5148de00.tar.gz px4-firmware-2b1e199b91641fb3ad097792f5ead98d5148de00.tar.bz2 px4-firmware-2b1e199b91641fb3ad097792f5ead98d5148de00.zip | |
Merge branch 'hil_scaling' into fw_control
| -rw-r--r-- | apps/mavlink/orb_listener.c | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index f17c78c7a..c49b47051 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -447,25 +447,25 @@ l_actuator_outputs(struct listener *l) if (isfinite(act_outputs.output[3]) && act_outputs.output[3] > 800 && act_outputs.output[3] < 2200) { /* throttle is fourth output */ - rudder = (act_outputs.output[2] - 1500.0f) / 1000.0f; - throttle = (act_outputs.output[3] - 1000.0f) / 1000.0f; + rudder = (act_outputs.output[2] - 1500.0f) / 600.0f; + throttle = (((act_outputs.output[3] - 1500.0f) / 600.0f) + 1.0f) / 2.0f; } else { /* only three outputs, put throttle on position 4 / index 3 */ rudder = 0; - throttle = (act_outputs.output[2] - 1000.0f) / 1000.0f; + throttle = (((act_outputs.output[2] - 1500.0f) / 600.0f) + 1.0f) / 2.0f; } /* HIL message as per MAVLink spec */ mavlink_msg_hil_controls_send(chan, hrt_absolute_time(), - (act_outputs.output[0] - 1500.0f) / 1000.0f, - (act_outputs.output[1] - 1500.0f) / 1000.0f, + (act_outputs.output[0] - 1500.0f) / 600.0f, + (act_outputs.output[1] - 1500.0f) / 600.0f, rudder, throttle, - (act_outputs.output[4] - 1500.0f) / 1000.0f, - (act_outputs.output[5] - 1500.0f) / 1000.0f, - (act_outputs.output[6] - 1500.0f) / 1000.0f, - (act_outputs.output[7] - 1500.0f) / 1000.0f, + (act_outputs.output[4] - 1500.0f) / 600.0f, + (act_outputs.output[5] - 1500.0f) / 600.0f, + (act_outputs.output[6] - 1500.0f) / 600.0f, + (act_outputs.output[7] - 1500.0f) / 600.0f, mavlink_mode, 0); } |