adjusted idle speed

2 files changed, 5 insertions, 2 deletions

diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
index b753da5ce..f188d8876 100644
--- a/src/modules/systemlib/mixer/mixer_multirotor.cpp
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -89,7 +89,7 @@ MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
 	_roll_scale(roll_scale),
 	_pitch_scale(pitch_scale),
 	_yaw_scale(yaw_scale),
-	_idle_speed(-1.0f + idle_speed * 2.0f),	/* shift to output range here to avoid runtime calculation */
+	_idle_speed(-1.0f + (idle_speed + 0.01F) * 2.0f),	/* shift to output range here to avoid runtime calculation */
 	_limits_pub(),
 	_rotor_count(_config_rotor_count[(MultirotorGeometryUnderlyingType)geometry]),
 	_rotors(_config_index[(MultirotorGeometryUnderlyingType)geometry])
diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/modules/uavcan/actuators/esc.cpp
index 51589e43e..17250f541 100644
--- a/src/modules/uavcan/actuators/esc.cpp
+++ b/src/modules/uavcan/actuators/esc.cpp
@@ -108,6 +108,7 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 	static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max();
 
 	for (unsigned i = 0; i < num_outputs; i++) {
+
 		if (_armed_mask & MOTOR_BIT(i)) {
 			float scaled = (outputs[i] + 1.0F) * 0.5F * cmd_max;
                         // trim negative values back to 0. Previously
@@ -116,13 +117,15 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
                         // policy decision for a specific vehicle
                         // type, as it is not appropriate for all
                         // types of vehicles (eg. fixed wing).
-			if (scaled < 0.0F) {
+			if (scaled <= 0.0F) {
 				scaled = 0.0F;
                         }
 			if (scaled > cmd_max) {
 				scaled = cmd_max;
 				perf_count(_perfcnt_scaling_error);
 			}
+			
+			//fprintf(stderr, "[can] motor:%i\t\tval:%.8f\t\tscaled:%.8f\n", i, (double)outputs[i], (double)scaled);
 
 			msg.cmd.push_back(static_cast<int>(scaled));