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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-10 19:06:58 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-10 19:06:58 +0100 |
| commit | fb022f40e50e34c5e37356247fc98bc3a5c88f4d (patch) | |
| tree | 05d418df3a35047dd475b77f3d4e88b32b5ffc43 /apps/mavlink/orb_listener.c | |
| parent | 6adab3b31930074ad9336ac596c1b4c2d6a4bd74 (diff) | |
| download | px4-firmware-fb022f40e50e34c5e37356247fc98bc3a5c88f4d.tar.gz px4-firmware-fb022f40e50e34c5e37356247fc98bc3a5c88f4d.tar.bz2 px4-firmware-fb022f40e50e34c5e37356247fc98bc3a5c88f4d.zip | |
Fixed zero offset in HIL
Diffstat (limited to 'apps/mavlink/orb_listener.c')
| -rw-r--r-- | apps/mavlink/orb_listener.c | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index e214f435e..f7bc32935 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -447,25 +447,25 @@ l_actuator_outputs(struct listener *l) 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; + rudder = (act_outputs.output[2] - 1500.0f) / 1000.0f; + throttle = (act_outputs.output[3] - 1500.0f) / 1000.0f; } else { /* only three outputs, put throttle on position 4 / index 3 */ rudder = 0; - throttle = (act_outputs.output[2] - 1000.0f) / 1000.0f; + throttle = (act_outputs.output[2] - 1500.0f) / 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[0] - 1500.0f) / 1000.0f, + (act_outputs.output[1] - 1500.0f) / 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, - (act_outputs.output[7] - 1000.0f) / 1000.0f, + (act_outputs.output[4] - 1500.0f) / 1000.0f, + (act_outputs.output[5] - 1500.0f) / 1000.0f, + (act_outputs.output[6] - 1500.0f) / 1000.0f, + (act_outputs.output[7] - 1500.0f) / 1000.0f, mavlink_mode, 0); } |