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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-10 19:10:57 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-10 19:10:57 +0100 |
| commit | f8291711d3daf0e4af12b018f7cc711414e3bf95 (patch) | |
| tree | 6b5a3b4ead14e0484c03ff3c08fd19efd15a5793 /apps/mavlink/orb_listener.c | |
| parent | fb022f40e50e34c5e37356247fc98bc3a5c88f4d (diff) | |
| download | px4-firmware-f8291711d3daf0e4af12b018f7cc711414e3bf95.tar.gz px4-firmware-f8291711d3daf0e4af12b018f7cc711414e3bf95.tar.bz2 px4-firmware-f8291711d3daf0e4af12b018f7cc711414e3bf95.zip | |
Correct scaling for throttle
Diffstat (limited to 'apps/mavlink/orb_listener.c')
| -rw-r--r-- | apps/mavlink/orb_listener.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index f7bc32935..f17c78c7a 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -448,11 +448,11 @@ l_actuator_outputs(struct listener *l) && act_outputs.output[3] > 800 && act_outputs.output[3] < 2200) { /* throttle is fourth output */ rudder = (act_outputs.output[2] - 1500.0f) / 1000.0f; - throttle = (act_outputs.output[3] - 1500.0f) / 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] - 1500.0f) / 1000.0f; + throttle = (act_outputs.output[2] - 1000.0f) / 1000.0f; } /* HIL message as per MAVLink spec */ |