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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-10 18:35:53 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-10 18:35:53 +0100 |
| commit | 92fe049f6524b88861e7f3ef4f6c2344095f39ea (patch) | |
| tree | 613f6ea7373965688b3a1cf9526df7d755a9a7d3 /apps/mavlink/orb_listener.c | |
| parent | 13443e43bf6e4fb0ae58bd6de01ec4c0cd0b3338 (diff) | |
| download | px4-firmware-92fe049f6524b88861e7f3ef4f6c2344095f39ea.tar.gz px4-firmware-92fe049f6524b88861e7f3ef4f6c2344095f39ea.tar.bz2 px4-firmware-92fe049f6524b88861e7f3ef4f6c2344095f39ea.zip | |
Sending correct actuator scaling
Diffstat (limited to 'apps/mavlink/orb_listener.c')
| -rw-r--r-- | apps/mavlink/orb_listener.c | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 8c38692b7..df6b1a475 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -444,14 +444,14 @@ l_actuator_outputs(struct listener *l) /* HIL message as per MAVLink spec */ mavlink_msg_hil_controls_send(chan, hrt_absolute_time(), - act_outputs.output[0], - act_outputs.output[1], - act_outputs.output[2], - act_outputs.output[3], - act_outputs.output[4], - act_outputs.output[5], - act_outputs.output[6], - act_outputs.output[7], + (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, + (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, mavlink_mode, 0); } |