Fixed scalings for fixed wing and multirotors

1 files changed, 7 insertions, 8 deletions

diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 460faf446..2527e0b0f 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -132,6 +132,7 @@ static struct mavlink_logbuffer lb;
 static void mavlink_update_system(void);
 static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
 static void usage(void);
+int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval);
 
 
 
@@ -161,15 +162,13 @@ set_hil_on_off(bool hil_enabled)
 		} else if (baudrate < 115200) {
 			/* 20 Hz */
 			hil_rate_interval = 50;
-		} else if (baudrate < 460800) {
-			/* 50 Hz */
-			hil_rate_interval = 20;
 		} else {
 			/* 100 Hz */
 			hil_rate_interval = 10;
 		}
 
 		orb_set_interval(mavlink_subs.spa_sub, hil_rate_interval);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, hil_rate_interval);
 	}
 
 	if (!hil_enabled && mavlink_hil_enabled) {
@@ -263,7 +262,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
 }
 
 
-static int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval)
+int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval)
 {
 	int ret = OK;
 
@@ -453,19 +452,19 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length)
 /*
  * Internal function to give access to the channel status for each channel
  */
-mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
+mavlink_status_t* mavlink_get_channel_status(uint8_t channel)
 {
 	static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
-	return &m_mavlink_status[chan];
+	return &m_mavlink_status[channel];
 }
 
 /*
  * Internal function to give access to the channel buffer for each channel
  */
-mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
+mavlink_message_t* mavlink_get_channel_buffer(uint8_t channel)
 {
 	static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
-	return &m_mavlink_buffer[chan];
+	return &m_mavlink_buffer[channel];
 }
 
 void mavlink_update_system(void)