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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-10 19:04:04 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-10 19:04:04 +0100 |
| commit | 6adab3b31930074ad9336ac596c1b4c2d6a4bd74 (patch) | |
| tree | 26a039e62718ac09d1551426acf8664496a1af28 /apps/mavlink/orb_listener.c | |
| parent | 92fe049f6524b88861e7f3ef4f6c2344095f39ea (diff) | |
| download | px4-firmware-6adab3b31930074ad9336ac596c1b4c2d6a4bd74.tar.gz px4-firmware-6adab3b31930074ad9336ac596c1b4c2d6a4bd74.tar.bz2 px4-firmware-6adab3b31930074ad9336ac596c1b4c2d6a4bd74.zip | |
Hack to detect the number of control inputs
Diffstat (limited to 'apps/mavlink/orb_listener.c')
| -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, |