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| author | Thomas Gubler <thomasgubler@gmail.com> | 2012-11-10 19:05:13 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2012-11-10 19:05:13 +0100 |
| commit | d3693ea993beaa472c80a765d1cd27ca289001f4 (patch) | |
| tree | 10cabe80fe004c984b157e61aa7e06ebdb4fd561 | |
| parent | 4fae74e4c1d44c3f7049d757f78bb283b36b3330 (diff) | |
| parent | 6adab3b31930074ad9336ac596c1b4c2d6a4bd74 (diff) | |
| download | px4-firmware-d3693ea993beaa472c80a765d1cd27ca289001f4.tar.gz px4-firmware-d3693ea993beaa472c80a765d1cd27ca289001f4.tar.bz2 px4-firmware-d3693ea993beaa472c80a765d1cd27ca289001f4.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, 16 insertions, 2 deletions
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index df6b1a475..e214f435e 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -441,13 +441,27 @@ l_actuator_outputs(struct listener *l) uint8_t mavlink_mode = 0; get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode); + float rudder, throttle; + + // XXX very ugly, needs rework + 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; + } else { + /* only three outputs, put throttle on position 4 / index 3 */ + rudder = 0; + throttle = (act_outputs.output[2] - 1000.0f) / 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[2] - 1000.0f) / 1000.0f, - (act_outputs.output[3] - 1000.0f) / 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, |