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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-29 22:04:00 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-29 22:04:00 +0200 |
| commit | 6c4bddd9963bb241e478d3a6c7b95927afe4cd44 (patch) | |
| tree | 67edd833994ffd8ed7a8e61b5e4ce139963f375c /apps/mavlink | |
| parent | 7949ac1ad83a7a1a9128cc8333e90e12d3ce6e43 (diff) | |
| download | px4-firmware-6c4bddd9963bb241e478d3a6c7b95927afe4cd44.tar.gz px4-firmware-6c4bddd9963bb241e478d3a6c7b95927afe4cd44.tar.bz2 px4-firmware-6c4bddd9963bb241e478d3a6c7b95927afe4cd44.zip | |
Fixed a bug in HIL input
Diffstat (limited to 'apps/mavlink')
| -rw-r--r-- | apps/mavlink/mavlink.c | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index a1458ca03..2ed9b840f 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -1416,15 +1416,15 @@ void handleMessage(mavlink_message_t *msg) memset(&rc_hil, 0, sizeof(rc_hil)); static orb_advert_t rc_pub = 0; - rc_hil.chan[0].raw = 1510 + man.x / 2; - rc_hil.chan[1].raw = 1520 + man.y / 2; - rc_hil.chan[2].raw = 1590 + man.r / 2; - rc_hil.chan[3].raw = 1420 + man.z / 2; + rc_hil.chan[0].raw = 1500 + man.x / 2; + rc_hil.chan[1].raw = 1500 + man.y / 2; + rc_hil.chan[2].raw = 1500 + man.r / 2; + rc_hil.chan[3].raw = 1500 + man.z / 2; - rc_hil.chan[0].scaled = man.x; - rc_hil.chan[1].scaled = man.y; - rc_hil.chan[2].scaled = man.r; - rc_hil.chan[3].scaled = man.z; + rc_hil.chan[0].scaled = man.x / 1000.0f; + rc_hil.chan[1].scaled = man.y / 1000.0f; + rc_hil.chan[2].scaled = man.r / 1000.0f; + rc_hil.chan[3].scaled = man.z / 1000.0f; struct manual_control_setpoint_s mc; static orb_advert_t mc_pub = 0; @@ -1432,7 +1432,7 @@ void handleMessage(mavlink_message_t *msg) mc.roll = man.x / 1000.0f; mc.pitch = man.y / 1000.0f; mc.yaw = man.r / 1000.0f; - mc.roll = man.z / 1000.0f; + mc.thrust = man.z / 1000.0f; /* fake RC channels with manual control input from simulator */ |