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| author | Thomas Gubler <thomasgubler@gmail.com> | 2012-11-10 19:07:29 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2012-11-10 19:07:29 +0100 |
| commit | 596224883bc1f74a3c297d384b8b69884dbd5858 (patch) | |
| tree | 27f5fd43037e8c9ca9dfc6d61635bae7e19e107c | |
| parent | d3693ea993beaa472c80a765d1cd27ca289001f4 (diff) | |
| parent | fb022f40e50e34c5e37356247fc98bc3a5c88f4d (diff) | |
| download | px4-firmware-596224883bc1f74a3c297d384b8b69884dbd5858.tar.gz px4-firmware-596224883bc1f74a3c297d384b8b69884dbd5858.tar.bz2 px4-firmware-596224883bc1f74a3c297d384b8b69884dbd5858.zip | |
Merge branch 'master' of https://github.com/PX4/Firmware 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 e214f435e..f7bc32935 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] - 1000.0f) / 1000.0f; - throttle = (act_outputs.output[3] - 1000.0f) / 1000.0f; + rudder = (act_outputs.output[2] - 1500.0f) / 1000.0f; + throttle = (act_outputs.output[3] - 1500.0f) / 1000.0f; } 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) / 1000.0f; } /* HIL message as per MAVLink spec */ mavlink_msg_hil_controls_send(chan, hrt_absolute_time(), - (act_outputs.output[0] - 1000.0f) / 1000.0f, - (act_outputs.output[1] - 1000.0f) / 1000.0f, + (act_outputs.output[0] - 1500.0f) / 1000.0f, + (act_outputs.output[1] - 1500.0f) / 1000.0f, rudder, throttle, - (act_outputs.output[4] - 1000.0f) / 1000.0f, - (act_outputs.output[5] - 1000.0f) / 1000.0f, - (act_outputs.output[6] - 1000.0f) / 1000.0f, - (act_outputs.output[7] - 1000.0f) / 1000.0f, + (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, mavlink_mode, 0); } |